Single-rotation and single-drive wheel set of four-rotation and four-drive chassis

Abstract

The utility model discloses a single-rotation and single-drive wheel set of a four-rotation and four-drive chassis, which comprises a servo hub motor, a hub motor coupling, a servo joint motor, a slewing bearing, a motor adapter flange, a support plate, a spring shock absorber and a driver, the servo joint motor drives the wheel set to steer left and right; the servo joint motor, the slewing bearing and the motor adapter flange are fixedly connected and combined into a rotatable structure, and the structure is fixed to the supporting plate through a locking bolt fixedly connected to the slewing bearing. The driver is connected with the supporting plate through four fastening bolts and drives the hub motor to move. The utility model provides a wheel set, relates to a movable chassis in an agricultural transportation link, in particular to a single-rotation and single-drive wheel set of a four-rotation and four-drive chassis, and provides a wheel set solution for constructing the four-rotation and four-drive chassis suitable for agricultural narrow field road operation.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of agricultural robot chassis, in particular to a four-wheel four-wheel drive chassis single-wheel single-wheel drive wheel set. BACKGROUND

[0002] With the vigorous development of agricultural intelligent equipment field in China, the demand for agricultural robots also grows. One of the key components in agricultural robots is the wheel set driving device. At present, most agricultural robots use differential drive device to drive the movement of agricultural robots and realize turning. Four-wheel four-wheel drive chassis has the characteristics of flexible turning, and is suitable for narrow space operation, so it is widely used in agricultural picking, transportation and other fields.

[0003] However, the existing agricultural robots have the following problems:

[0004] At present, the turning mode of the wheel set of the agricultural robot mostly uses a servo motor to drive a pinion gear and then drive an external tooth rotary bearing to realize the rotation of a single wheel set. Such design has a complex external tooth rotary bearing structure, so the cost is high. At present, the forward mode of the wheel set of the agricultural robot mostly uses a servo motor and a reduction box to drive the wheel rotation. Such design has a large size, which leads to the height of the chassis cannot be reduced and cannot be applied to lower agricultural robots.

[0005] Therefore, in view of the existing problems, improvement is needed. CONTENT OF THE INVENTION

[0006] In view of the above situation, in order to overcome the current technical defects, the present application provides a four-wheel four-wheel drive chassis single-wheel single-wheel drive wheel set.

[0007] The technical scheme adopted by the present application is as follows: The four-wheel four-wheel drive chassis single-wheel single-wheel drive wheel set provided by the present application comprises a servo wheel hub motor, a wheel hub motor coupling, a servo joint motor, a rotary support, an adapter flange, a support plate, a spring shock absorber and a driver. The servo wheel hub motor serves as a driving wheel and is used for forward and backward walking. The servo joint motor drives the wheel set to turn left and right. The servo joint motor, the rotary support and the adapter flange are fixed and combined into a rotatable structure. The structure is fixed to the support plate through the locking bolt fixed on the rotary support. The driver is connected with the support plate through four fastening screws and is arranged below the motor adapter flange to support the sheet metal component.

[0008] The beneficial effects achieved by the present application with the above structure are as follows: The four-wheel four-wheel drive chassis single-wheel single-wheel drive wheel set has the following advantages:

[0009] 1. The wheel hub motor is adopted, which eliminates the reduction box, so that the height of the entire wheel set can be smaller;

[0010] 2. At the same time, the hub motor with deep-groove and wide tires has stronger anti-dumping and obstacle-crossing capabilities to ensure smooth operation in various complex operating scenarios;

[0011] 3. Use the servo joint motor to directly drive the motor bracket to rotate to achieve the purpose of steering, and the structure is simpler.

[0012] In summary, the present invention provides a wheel set with driving and steering functions, which has the characteristics of simple structure, low cost and small size. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following is a brief introduction to the drawings required for the embodiments or prior art descriptions. Obviously, the drawings described below are only some examples or embodiments of the present application. For those of ordinary skill in the art, without paying any creative work, other drawings can be obtained based on the provided drawings, and the present application can also be applied to other similar scenarios based on the provided drawings. Unless it is obvious from the language context or otherwise explained, the same reference numerals in the figures represent the same structure or operation.

[0014] Figure 1 This is a schematic diagram of the three-dimensional structure of a single-rotation and single-drive wheel set of a four-rotation and four-wheel drive chassis of the present invention;

[0015] Figure 2 This is a side structural diagram of a single-rotation, single-drive wheel set of a four-rotation, four-wheel drive chassis according to the present invention;

[0016] Figure 3 This is a schematic diagram of the exploded structure of a single-rotation, single-drive wheel set of a four-rotation, four-wheel drive chassis of the present invention;

[0017] Figure 4 A cross-sectional view of an exploded structural schematic diagram of a single-rotation, single-drive wheel assembly of a four-rotation, four-wheel drive chassis according to the present invention;

[0018] Figure 5 The present invention provides a cross-sectional view of a single-rotation, single-drive wheel set on a four-rotation, four-wheel drive chassis.

[0019] Among them, 1. Servo joint motor, 2. Adapter flange, 3. Support plate, 4. Servo hub motor, 5. Slewing bearing, 6. Driver, 7. Spring shock absorber, 8. Hub motor coupling. DETAILED DESCRIPTION

[0020] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application; based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative effort fall within the scope of the present application.

[0021] It should be noted that the words "front", "back", "left", "right", "up" and "down" used in the following description refer to the directions in the drawings, and the words "in" and "out" refer to the directions towards or away from the geometric center of a particular component.

[0022] As shown in Figure 1 The technical solutions adopted by the present application are as follows: the present application provides a wheel set of a four-wheel four-drive chassis (hereinafter referred to as a wheel set), which comprises a servo joint motor 1, an adapter flange 2, a support plate 3, a servo wheel hub motor 4, a slewing bearing 5, a driver 6, a spring shock absorber 7, and a wheel hub motor coupling 8. The motor flange of the servo joint motor 1 is connected to the adapter flange 2 through locking bolts. The adapter flange 2 is rotated by the servo joint motor 1 driving flange to provide torque for the steering of the device.

[0023] As shown in Figure 1 The servo wheel hub motor 4 is connected to the wheel hub motor coupling 8, the wheel hub motor coupling 8 is connected to the support plate 3, and the support plate 3 is connected to the adapter flange 2 through locking bolts. The force output by the servo joint motor 1 drives the wheels to turn left and right through the adapter flange 2, thereby realizing the left and right steering of the wheel set.

[0024] As shown in Figure 2 The support plate 3 is divided into two groups, one group of support plates 31 is connected to the driver 6, the spring shock absorber 7, and the adapter flange 2, and the other group of support plates 32 is connected to the slewing bearing 5. The two groups of support plates 31 and 32 are used in cooperation to support the sheet metal components of the device.

[0025] As shown in Figure 1 The driver 6 is connected to the fixed plate 3 through locking bolts to provide driving force for the wheel set.

[0026] As shown in Figure 2 The slewing bearing 5 is connected to the fixed plate 3 to bear radial load.

[0027] Among them, the device is connected to the chassis frame through the support plate 3 (the frame is not shown in the drawing).

[0028] In specific use, the servo wheel hub motor 4 is used as a driving wheel for forward and backward walking; the wheel hub motor coupling 8 connects the servo wheel hub motor 4 and the spring shock absorber 7 to form a damping structure, which is connected to the support plate 3 through locking bolts; the servo joint motor 1 is fixed to the lower adapter flange 2, and the servo joint motor 1 drives the wheel group to turn left and right; the servo joint motor 1, the slewing bearing 5, and the adapter flange 2 are combined into a rotatable structure fixed together, which is fixed to the support plate 3 through locking bolts; the first wheel group support plate 31 and the second wheel group support plate 32 are connected to the slewing bearing 5 and are arranged below the adapter flange 2 to support the sheet metal parts; the driver 6 is provided with four threaded holes and is connected to the support plate 3 through locking bolts to provide driving force for the wheel group.

[0029] It is to be noted that, in the present document, relational terms such as first and second and the like can be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. While embodiments of the application have been illustrated and described, it will be clear to those of ordinary skill in the art that various changes, modifications, alternatives, and variations can be made thereto without departing from the spirit and scope of the application, which is defined by the appended claims and their equivalents.

Claims

1. A single-rotation, single-drive wheel set on a four-rotation, four-wheel drive chassis, characterized in that: The wheel set includes a servo hub motor, a hub motor coupling, a servo joint motor, a slewing bearing, an adapter flange, a support plate, a spring shock absorber, and a driver. The hub motor serves as a driving wheel for moving forward and backward, and the hub motor coupling is used to transmit torque to drive the wheels to move forward.

2. The single-rotation, single-drive wheel assembly of a four-rotation, four-wheel drive chassis according to claim 1, characterized in that: The hub motor and the spring shock absorber are connected via the hub motor coupling to form a shock absorbing structure, and the shock absorbing structure is connected to the support plate via a locking bolt.

3. The single-rotation, single-drive wheel set of a four-rotation, four-wheel drive chassis according to claim 1, characterized in that: The servo joint motor is fixedly connected to the slewing support, and the servo joint motor drives the wheel set to achieve steering.

4. The single-rotation, single-drive wheel assembly of a four-rotation, four-wheel drive chassis according to claim 1, characterized in that: The driver is provided with 4 threaded holes and is connected to the support plate through set screws.

5. The single-rotation single-drive wheel assembly of the four-rotation four-wheel drive chassis according to claim 1, characterized in that: The servo joint motor, the slewing bearing and the adapter flange are combined into a rotatable structure fixed together and fixed to the support plate by locking bolts.

6. The single-rotation, single-drive wheel assembly of a four-rotation, four-wheel drive chassis according to claim 1, characterized in that: The support plates are provided in two groups, the first wheel group support plate and the second wheel group support plate are connected to the slewing bearing and are arranged under the motor adapter flange to support the sheet metal component.

Images