Detachable steering wheel based on independent suspension

Abstract

The detachable steering wheel based on the independent suspension comprises a steering assembly, the steering assembly comprises a crossed roller bearing, a detachable connecting assembly is arranged at the outer end of the crossed roller bearing, detachable connecting plates are arranged on the two sides of the connecting assembly respectively, a supporting frame is connected to the connecting plates in a sliding mode, and the supporting frame is connected with the steering assembly in a sliding mode. A shock absorber is arranged between the supporting frame and the connecting plate, the supporting frame is detachably connected with a chassis of the vehicle body, a detachable rotating assembly is arranged at the inner end of the crossed roller bearing, and a detachable walking assembly is arranged at the lower end of the rotating assembly. According to the utility model, a modular structure is adopted, rapid disassembly and assembly are facilitated, and maintenance cost is reduced; and the steering wheels are independently suspended and can better adapt to topographic changes.

Description

Technical Field

[0001] The utility model relates to the technical field of steering wheels, in particular to a detachable steering wheel based on independent suspension. Background Art

[0002] As a core component of a mobile robot, the performance and function of the steering wheel are crucial to improving the robot's operating efficiency and accuracy. The existing steering wheel structure has the following problems:

[0003] 1. The steering wheel cannot adapt to terrain changes independently. When the terrain is complex and uneven, the vehicle body is subjected to a greater impact force, affecting the stability of driving;

[0004] 2. When moving at low speeds or facing extreme resistance, the steering control accuracy of the steering wheel may be affected to a certain extent, causing deviations when the robot performs delicate operations, thereby affecting operational efficiency and accuracy;

[0005] 3. The steering wheel is not easy to disassemble and repair, and the maintenance cost is high. Utility Model Content

[0006] The utility model provides a detachable steering wheel based on independent suspension, which adopts a modular structure, is convenient for quick disassembly and installation, and reduces maintenance costs; the steering wheel is independently suspended and can better adapt to terrain changes.

[0007] The technical solution of the utility model is achieved as follows: a detachable steering wheel based on independent suspension includes a steering assembly, the steering assembly includes a cross roller bearing, a detachable connecting assembly is provided at the outer end of the cross roller bearing, a detachable connecting plate is provided on both sides of the connecting assembly, a support frame is slidably connected to the connecting plate, a shock absorber is provided between the support frame and the connecting plate, the support frame is detachably connected to the chassis of the vehicle body, a detachable rotating assembly is provided at the inner end of the cross roller bearing, and a detachable walking assembly is provided at the lower end of the rotating assembly.

[0008] Furthermore, the connecting assembly includes an upper plate, a middle plate, the outer end of a cross roller bearing, and a lower plate, which are detachably connected from top to bottom. The rotating assembly includes a transmission gear, an upper lining plate, the inner end of a cross roller bearing, and several lower lining plates, which are detachably connected from top to bottom. A steering motor is fixed to the upper plate, which is connected to a drive gear, which meshes with the transmission gear. This structure facilitates the removal and installation of the connecting assembly.

[0009] Furthermore, the travel assembly includes a first end plate and a second end plate, the first end plate and the second end plate being detachably connected via a first connecting rod, a wheel housing being disposed between the first and second end plates, a detachable wheel hub being disposed within the wheel housing, the wheel hub being rotatably connected to a support cylinder via a connecting bearing, the support cylinder being detachably connected to the first end plate, a travel motor being disposed at the first end plate, the output end of the travel motor passing through the support cylinder and being fixedly connected to the wheel housing, and an end of the wheel housing away from the travel motor being detachably rotatably connected to the second end plate. The above-mentioned structure facilitates disassembly and installation of the travel assembly, reducing maintenance costs.

[0010] Furthermore, a vertical guide rail is fixed to the connecting plate, and the support frame slides along the vertical guide rail via a slider. One end of the shock absorber is hinged to the lower end of the connecting plate, and the other end is hinged to the upper end of the support frame. The cooperation between the vertical guide rail and the slider defines the motion trajectory.

[0011] Furthermore, the support frame includes a T-shaped plate, one side of which is detachably connected to the slider, and the other side is bolted to the support block. A U-shaped plate is mounted on the outside of the support block, and connecting plates are provided on both sides of the U-shaped plate. The support block, U-shaped plate, and connecting plates are connected by bolts. The connecting plates are also bolted to the vertical rods. The side of the vertical rods away from the T-shaped plate is also bolted to the chassis connecting plate. The above structure ensures the strength of the support frame.

[0012] Furthermore, the wheel hub includes a shell cover, and two hub bodies are coaxially arranged on the inner side of the shell cover. The joints of the two hub bodies are provided with assembly grooves. The two hub bodies are fixed to the outer sides of the connecting bearings through the assembly grooves. The shell cover, the hub bodies and the wheel shell are connected by bolts. There are shafts evenly distributed along the circumference inside the wheel shell, and the hub bodies are mounted on the shafts.

[0013] Furthermore, a connecting hole is provided on the second end plate, a rotating ring sleeve is provided in the connecting hole, a limiting plate cooperating with the ring sleeve is provided at the end of the ring sleeve away from the wheel shell, the limiting plate is detachably connected to the second end plate, and a protruding shaft cylinder is provided at the end of the wheel shell away from the walking motor, and the shaft cylinder is connected to the ring sleeve.

[0014] Furthermore, the lower plate is connected to the first connecting block by bolts, the first connecting block is detachably connected to the connecting plate by bolts, and positioning grooves are provided at positions of the upper plate and the lower plate corresponding to the connecting plate.

[0015] Furthermore, the upper ends of the two connecting plates are detachably connected via a second connecting rod.

[0016] Furthermore, a positioning protrusion is provided on the upper end of the second end plate, and a positioning hole is provided on the rotating assembly to cooperate with the positioning protrusion.

[0017] Beneficial effects of the utility model:

[0018] The utility model is connected to the chassis of the vehicle body through a supporting frame, and each steering wheel is suspended independently, thereby ensuring that each steering wheel can independently adapt to terrain changes, reducing the impact force on the vehicle body and improving driving stability.

[0019] The steering wheel and its suspension system of the present invention are designed as a modular structure, such as a steering assembly, a traveling assembly and a support frame, which are convenient for quick disassembly and installation, reduce maintenance costs, and are also convenient for users to regularly maintain and replace the steering wheel and its suspension system.

[0020] The support frame of the utility model is slidably connected to the connecting plate, and a shock absorber is provided between the support frame and the connecting plate. The sliding connection adopts a vertical guide rail and a slider to ensure that the equipment maintains a precise position and motion trajectory during operation, and can withstand a large load to meet the use requirements of heavy load and high torque. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0022] Figure 1 This is a schematic diagram of the structure of the utility model Figure 1 ;

[0023] Figure 2 This is a schematic diagram of the structure of the utility model Figure 2 (without supporting frame);

[0024] Figure 3 This is a schematic diagram of the split structure of the steering component;

[0025] Figure 4 This is a schematic diagram of the split structure of the walking component;

[0026] Figure 5 Schematic diagram of the split structure of the support frame;

[0027] Figure 6 Schematic diagram of the structure of the lower plate;

[0028] Figure 7 Schematic diagram of the structure of the lower lining plate at the lowest end;

[0029] Figure 8 Schematic diagram of the structure of the wheel housing;

[0030] Figure 9 Schematic diagram of the structure of the support tube.

[0031] Cross roller bearing 1, upper plate 2, middle plate 3, lower plate 4, transmission gear 5, upper lining plate 6, lower lining plate 7, steering motor 8, drive gear 9, connecting plate 10, first connecting block 11, positioning groove 12, second connecting rod 13, vertical guide rail 14, T-plate 15, slider 16, support block 17, U-shaped plate 18, connecting plate 19, vertical rod 20, chassis connecting plate 21, shock absorber 22, first end plate 23, second end plate 24, first connecting rod 25, wheel housing 26, shell cover 27, hub body 28, assembly groove 29, connecting bearing 30, support cylinder 31, travel motor 32, expansion sleeve 33, connecting hole 34, ring sleeve 35, limit plate 36, positioning protrusion 37, positioning hole 38, second connecting block 39, shaft cylinder 40. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0033] like Figure 1-3 As shown, a detachable steering wheel based on an independent suspension includes a steering assembly, which includes a crossed roller bearing 1. The outer end of the crossed roller bearing 1 is provided with a detachable connecting assembly. The connecting assembly includes, from top to bottom, an upper plate 2, a middle plate 3, the outer end of the crossed roller bearing 1, and a lower plate 4, which are connected in sequence. The upper plate 2, the middle plate 3, the outer end of the crossed roller bearing 1, and the lower plate 4 are connected by bolts. The rotating assembly includes, from top to bottom, a transmission gear 5, an upper liner 6, the inner end of the crossed roller bearing 1, and a plurality of lower liner plates 7 (e.g., two). The transmission gear 5, the upper liner plate 6, the inner end of the crossed roller bearing 1, and the plurality of lower liner plates 7 are connected by countersunk bolts. The lower plate 4 and the lower liner plates 7 are both fiberglass boards. The transmission gear 5 is located between the upper plate 2 and the upper liner plate 6. A steering motor 8 is fixed to the upper plate 2. A drive gear 9 is fixed to the output end of the steering motor 8. The drive gear 9 is located on one side of the transmission gear 5 and meshes with the drive gear 9. A detachable traveling assembly is provided at the lower end of the rotating assembly. The steering motor 8 drives the transmission gear 5 to rotate, and the transmission gear 5 drives the rotating assembly to rotate, and the rotating assembly drives the traveling assembly to turn.

[0034] like Figure 3 and 6As shown, detachable connecting plates 10 are provided on both sides of the connecting assembly, the lower plate 4 is connected to the first connecting block 11 by bolts, the first connecting block 11 is connected to the lower end of the connecting plate 10 by bolts, and the upper plate 2 and the lower plate 4 are provided with positioning grooves 12 at the positions corresponding to the connecting plates 10, and the connecting plates 10 vertically pass through the positioning grooves 12. A second connecting rod 13 is provided between the upper ends of the two connecting plates 10, and the end of the second connecting rod 13 is detachably connected to the connecting plate 10 by screws, thereby increasing the stability of the overall structure.

[0035] like Figure 1 and 5 As shown, a vertical guide rail 14 is fixed to the connecting plate 10 by bolts, and the support frame slides along the vertical guide rail 14 via a slider 16. The support frame includes a T-shaped plate 15, one side of the T-shaped plate 15 is connected to the slider 16 by bolts, and the other side is connected to the support block 17 by bolts. A U-shaped plate 18 is mounted on the outside of the support block 17, and a connecting plate 19 is provided on both sides of the U-shaped plate 18. The support block 17, U-shaped plate 18 and connecting plate 19 are connected by bolts. The connecting plate 19 is connected to the vertical rod 20 by bolts. The side of the vertical rod 20 away from the T-shaped plate 15 is connected to the chassis connecting plate 21 by bolts. The chassis connecting plate 21 is connected to the chassis of the vehicle body by bolts. One end of the shock absorber 22 is hinged to the lower end of the connecting plate 10, and the other end is hinged to the upper end of the T-shaped plate 15.

[0036] like Figure 2 、 4 As shown in Figures 8 and 9, the walking assembly includes a first end plate 23 and a second end plate 24. The first end plate 23 and the second end plate 24 are both made of fiberglass boards. A first connecting rod 25 is provided between the first end plate 23 and the second end plate 24, and the first connecting rod 25 is connected to the corresponding end plate by bolts. A wheel shell 26 is provided between the first end plate 23 and the second end plate 24. A detachable wheel hub is provided in the wheel shell 26. The wheel hub includes a shell cover 27. Two hub bodies 28 are coaxially provided on the inner side of the shell cover 27. The two hub bodies 28 are each provided with an assembly groove 29 at the junction. The two hub bodies 28 are fixed to the outside of the connecting bearing 30 through the assembly groove 29, and the connecting bearing 30 is limited at the same time. The shell cover 27, the hub body 28 and the wheel shell 26 are connected by bolts. Axles are evenly distributed along the circumference of the wheel shell 26, and the hub bodies 28 are sleeved on the outside of the axles.

[0037] The wheel hub is rotatably connected to the support tube 31 through a connecting bearing 30, and the support tube 31 is connected to the first end plate 23 by bolts. A travel motor 32 is provided at the first end plate 23, and the travel motor 32 passes through the first end plate 23 and is fixed in the support tube 31. A protruding shaft tube 40 is fixed to the end of the wheel housing 26 away from the travel motor 32. The output end of the travel motor 32 passes through the support tube 31 and is fixedly connected to the shaft tube 40 by a tightening sleeve 33. The end of the wheel housing 26 away from the travel motor 32 is detachably rotatably connected to the second end plate 24.

[0038] The second end plate 24 is provided with a connecting hole 34, and a ring sleeve 35 is rotatably installed in the connecting hole 34. A limiting plate 36 is provided at the end of the ring sleeve 35 away from the wheel shell 26. The limiting plate 36 is detachably connected to the second end plate 24. The ring sleeve 35 is limited by the limiting plate 36 to prevent the ring sleeve 35 from falling off from the connecting hole 34. The shaft cylinder 40 is connected to the inner side of the ring sleeve 35 by overfitting, which is convenient for disassembly without affecting the rotation of the wheel shell 26.

[0039] like Figure 1 、 4 As shown in Figure 7, a positioning protrusion 37 is provided at the upper end of the second end plate 24. The positioning protrusion 37 and the second end plate 24 are an integrated structure. A positioning hole 38 that cooperates with the positioning protrusion 37 is provided on the lower lining plate 7 at the lower end. The positioning protrusion 37 is placed in the positioning hole 38 to facilitate the positioning and installation of the steering assembly and the walking assembly. The inner sides of the first end plate 23 and the second end plate 24 are fixed with a second connecting block 39 by bolts, and the second connecting block 39 is fixed to the lower lining plate 7 by bolts.

[0040] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A detachable steering wheel based on independent suspension, characterized by: The steering assembly includes a cross roller bearing, a detachable connecting assembly is provided at the outer end of the cross roller bearing, a detachable connecting plate is provided on both sides of the connecting assembly, a support frame is slidably connected to the connecting plate, a shock absorber is provided between the support frame and the connecting plate, the support frame is detachably connected to the chassis of the vehicle body, a detachable rotating assembly is provided at the inner end of the cross roller bearing, and a detachable walking assembly is provided at the lower end of the rotating assembly.

2. The detachable steering wheel based on independent suspension according to claim 1, characterized in that: The connecting assembly includes an upper plate, a middle plate, an outer end of a cross roller bearing and a lower plate that are detachably connected from top to bottom. The rotating assembly includes a transmission gear, an upper lining plate, an inner end of a cross roller bearing and several lower lining plates that are detachably connected from top to bottom. A steering motor is fixed on the upper plate, the steering motor is connected to the drive gear, and the drive gear is meshed with the transmission gear.

3. The detachable steering wheel based on independent suspension according to claim 1, characterized in that: The walking assembly includes a first end plate and a second end plate, the first end plate and the second end plate are detachably connected by a first connecting rod, a wheel shell is arranged between the first end plate and the second end plate, a detachable wheel hub is arranged in the wheel shell, the wheel hub is rotatably connected to the support cylinder through a connecting bearing, the support cylinder is detachably connected to the first end plate, a walking motor is arranged at the first end plate, the output end of the walking motor passes through the support cylinder and is fixedly connected to the wheel shell, and the end of the wheel shell away from the walking motor is detachably rotatably connected to the second end plate.

4. A detachable steering wheel based on independent suspension according to any one of claims 1 to 3, characterized in that: A vertical guide rail is fixed on the connecting plate, and the supporting frame slides along the vertical guide rail through a slider. One end of the shock absorber is hinged to the lower end of the connecting plate, and the other end is hinged to the upper end of the supporting frame.

5. The detachable steering wheel based on independent suspension according to claim 4, characterized in that: The support frame includes a T-shaped plate, one side of the T-shaped plate is detachably connected to the slider, and the other side is connected to the support block by bolts. A U-shaped plate is mounted on the outside of the support block, and connecting plates are provided on both sides of the U-shaped plate. The support block, U-shaped plate and connecting plate are connected by bolts, and the connecting plate is connected to the vertical rod by bolts. The side of the vertical rod away from the T-shaped plate is connected to the chassis connecting plate by bolts.

6. The detachable steering wheel based on independent suspension according to claim 3, characterized in that: The wheel hub includes a shell cover, and two hub bodies are coaxially arranged on the inner side of the shell cover. The joints of the two hub bodies are provided with assembly grooves. The two hub bodies are fixed to the outer sides of the connecting bearings through the assembly grooves. The shell cover, the hub bodies and the wheel shell are connected by bolts. Shafts are evenly distributed along the circumference of the wheel shell, and the hub bodies are mounted on the shafts.

7. The detachable steering wheel based on independent suspension according to claim 3, characterized in that: A connecting hole is provided on the second end plate, a rotating ring sleeve is provided in the connecting hole, a limiting plate cooperating with the ring sleeve is provided on the end of the ring sleeve away from the wheel shell, the limiting plate is detachably connected to the second end plate, a protruding shaft cylinder is provided on the end of the wheel shell away from the travel motor, and the shaft cylinder is connected to the ring sleeve.

8. The detachable steering wheel based on independent suspension according to claim 1, characterized in that: The lower plate is connected to the first connecting block by bolts, the first connecting block is detachably connected to the connecting plate by bolts, and positioning grooves are provided at positions of the upper plate and the lower plate corresponding to the connecting plate.

9. The detachable steering wheel based on independent suspension according to claim 1 or 8, characterized in that: The upper ends of the two connecting plates are detachably connected via a second connecting rod.

10. The detachable steering wheel based on independent suspension according to claim 3, characterized in that: A positioning protrusion is provided on the upper end of the second end plate, and a positioning hole that matches the positioning protrusion is provided on the rotating assembly.

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