Chassis driving device and vehicle

Abstract

The chassis driving device comprises a frame body, the frame body comprises a cross beam, the length direction of the cross beam is arranged in the Y direction, bases are upwards arranged on the cross beam in the Y direction at intervals, and suspension seats are installed on the bases; transmission steering units are installed on the two sides, in the X direction, of the base through suspension columns correspondingly, and shock absorbers are installed between the suspension seats and the corresponding transmission steering units. A gearbox and a chain transmission assembly are in power connection between every two adjacent transmission steering units in the X direction, and walking wheels are installed at the outer ends of the single transmission steering units correspondingly. The suspension column is combined with the shock absorber to achieve suspension shock absorption installation of the transmission steering unit on the frame, four-wheel drive of the vehicle can be achieved through the transmission steering unit, the overall structure is simplified, the modularization degree is high, and the four-wheel drive device is suitable for occasions with limited space.

Description

Technical Field

[0001] This utility model relates to the field of AGV (Automated Guided Vehicle) technology, and in particular to a chassis drive device and vehicle. Background Technology

[0002] The drive system is an important component of a vehicle and is related to how well the vehicle drives.

[0003] Existing AGVs (Automated Guided Vehicles) typically employ a dual-wheel drive structure, consisting of two drive wheels combined with one or more non-drive wheels to form the drive system. Usually, two motors drive two wheels respectively, and straight-line movement or differential turning is achieved by controlling the speed of the two drive wheels. This approach is relatively expensive and requires a large turning radius, resulting in poor flexibility and making it particularly unsuitable for situations with limited space. In contrast, the drive systems of existing four-wheel drive vehicles are too complex and unsuitable for AGVs. Utility Model Content

[0004] To address the aforementioned issues, this application provides a chassis drive device and vehicle with a reasonable structure, thereby simplifying the overall structure, increasing the degree of modularity, and making it suitable for applications with limited space.

[0005] The technical solution adopted in this utility model is as follows:

[0006] A chassis drive device includes a frame body, the frame body including a crossbeam arranged along the Y direction in the length direction, and bases arranged at intervals along the Y direction on the crossbeam, with suspension seats mounted on the bases; transmission steering units are mounted on both sides of the bases along the X direction via suspension columns, and shock absorbers are installed between the suspension seats and the corresponding transmission steering units; a gearbox and a chain drive assembly are connected between two adjacent transmission steering units along the X direction, and a driving wheel is mounted on the outer end of each individual transmission steering unit.

[0007] As a further improvement to the above technical solution:

[0008] The structure of the transmission steering unit is as follows: it includes a transmission seat and a wheel seat arranged laterally facing each other; a vertical shaft is installed through the transmission seat and the wheel seat; a worm gear arranged along the Y direction is meshed with the vertical shaft via a worm gear; the worm gear is driven to rotate by a chain drive assembly; a horizontally arranged Z-axis gear is fitted in the middle of the vertical shaft; a rotating shaft is installed on the vertical wall of the horizontal transmission seat; the rotating shaft leads out from the gearbox; an X-axis gear one meshing with the Z-axis gear is installed on the inner end of the rotating shaft; a wheel axle is installed on the vertical wall of the horizontal wheel seat; an X-axis gear two meshing with the Z-axis gear is installed on the inner end of the wheel axle; and a traveling wheel is installed on the outer end of the wheel axle.

[0009] The top surface of the transmission seat is equipped with a lower support lug, and the side of the base is equipped with upper support lugs at intervals along the Y direction. Each upper support lug is equipped with a suspension column, and the bottom ends of the two suspension columns are connected as one unit and then installed on the lower support lug.

[0010] A shock absorber is installed on the side of the transmission seat, and a through hole is provided on the suspension seat for the support shaft to be installed along the Y direction. The lower end of the shock absorber is installed on the shock absorber seat, and the upper end of the shock absorber is installed on the support shaft.

[0011] Both the transmission seat and the wheel seat have a U-shaped structure, and the openings of the transmission seat and the wheel seat are arranged facing each other laterally; the X-axis gear one, the X-axis gear two, and the Z-axis gear are all bevel gears.

[0012] The worm gear is fitted onto the end of the vertical shaft, and the worm is supported on the transmission seat by a vertical plate and a support.

[0013] The chain drive assembly has the following structure: it includes a vertically arranged support plate, a driven sprocket installed at the end of the worm gear passing through the support plate, and a chain wound between the driven sprockets on both sides of the same gearbox; it also includes a transmission assembly one that connects the power to the two sets of chain drive assemblies in the Y direction, the transmission assembly one including two synchronously rotating transmission sprockets, the two transmission sprockets respectively meshing into the chains of the two sets of chain drive assemblies; one set of chain drive assemblies is driven by a driving power one through a driving sprocket.

[0014] The structure of a single gearbox is as follows: it includes a housing, on which two rotating shafts are installed along the X direction through the two walls respectively, and X-direction gear three is installed at the inner ends of the two rotating shafts respectively. Large gears are respectively mounted on a single rotating shaft located on the outside of the housing; it also includes an intermediate gear that meshes with the X-direction gear three on both sides at the same time.

[0015] A second transmission assembly is installed between the two gearboxes for power connection. The second transmission assembly includes transmission gears that rotate synchronously in the same direction. The transmission gears mesh with the large gears in the corresponding gearboxes, driving the rotating shafts on both sides of the two gearboxes to rotate synchronously in the same direction. One of the gearboxes is driven by the second driving power assembly via the drive gear.

[0016] A vehicle comprising the chassis drive unit described in any one of the preceding descriptions.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] This utility model achieves the suspension and shock absorption installation of the transmission and steering unit on the vehicle frame by combining the suspension column with the shock absorber, and can realize the four-wheel drive of the vehicle through the transmission and steering unit. The overall structure is simplified, highly modular, and suitable for occasions with limited space.

[0019] This utility model also has the following advantages:

[0020] The gearbox and chain drive assembly are connected to the four wheels via the transmission steering unit to achieve four-wheel drive for both walking and steering. It can also achieve right-angle steering without turning radius by deflecting the wheel seats, which effectively improves the flexibility of actual use.

[0021] The drive power unit, combined with a chain drive assembly, transmits power to each steering unit, causing each wheel to turn synchronously to achieve steering, with a steering angle up to a right angle. The drive power unit, combined with a gearbox, transmits power to each steering unit, causing each wheel to rotate synchronously to achieve movement. Thus, the four-wheel drive system, which uses separate drive power to achieve movement and rotation, not only effectively ensures driving stability and reliability but also effectively reduces the cost of the mechanism and has good practicality. Attached Figure Description

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

[0023] Figure 2 This is a schematic diagram showing the installation between the transmission and steering unit and the frame of this utility model.

[0024] Figure 3 This is a schematic diagram of the transmission and steering unit of this utility model.

[0025] Figure 4 This is a schematic diagram of the chain drive assembly of this utility model.

[0026] Figure 5 This is a schematic diagram of the gearbox structure of this utility model.

[0027] The components include: 1. Frame; 2. Suspension column; 3. Shock absorber; 4. Transmission and steering unit; 5. Wheel seat; 6. Gearbox; 7. Chain drive assembly; 8. Transmission assembly two; 9. Transmission assembly one; 10. Running wheel; 101. Axle;

[0028] 11. Crossbeam; 12. Base; 13. Suspension seat; 131. Through hole;

[0029] 21. Upper ear; 22. Lower ear;

[0030] 31. Shock-absorbing seat;

[0031] 41. Transmission seat; 42. X-axis gear one; 43. Z-axis gear; 44. X-axis gear two; 45. Vertical shaft; 46. Worm gear; 47. Worm; 48. Vertical plate; 49. Support;

[0032] 60. Housing; 61. Shaft; 62. Large gear; 63. X-axis gear three; 64. Intermediate gear; 65. Drive gear;

[0033] 70. Support plate; 71. Driven sprocket; 72. Chain; 73. Drive sprocket;

[0034] 81. Transmission gear; 91. Transmission sprocket. Detailed Implementation

[0035] The specific embodiments of this utility model are described below with reference to the accompanying drawings.

[0036] like Figure 1 and Figure 2 As shown, a chassis drive device in this embodiment includes a frame body 1. The frame body 1 includes a crossbeam 11 arranged along the Y direction in the length direction. Bases 12 are arranged at intervals along the Y direction on the crossbeam 11. Suspension seats 13 are installed on the bases 12. Transmission steering units 4 are installed on both sides of the bases 12 along the X direction via suspension columns 2. Shock absorbers 3 are installed between the suspension seats 13 and the corresponding transmission steering units 4. A gearbox 6 and a chain drive assembly 7 are connected between two adjacent transmission steering units 4 along the X direction. A driving wheel 10 is installed on the outer end of each transmission steering unit 4.

[0037] In this embodiment, the suspension and shock absorption installation of the transmission steering unit 4 on the vehicle frame is achieved by combining the suspension column 2 with the shock absorber 3, and the four-wheel drive of the vehicle can be realized through the transmission steering unit 4. The overall structure is simplified and highly modular.

[0038] In this embodiment, the gearbox 6 and chain drive assembly 7 are powered by the transmission steering unit 4 to connect the four walking wheels 10, thereby achieving four-wheel drive for walking and steering.

[0039] like Figure 3 As shown, the structure of the transmission steering unit 4 is as follows: it includes a transmission seat 41 and a wheel seat 5 arranged laterally facing each other. A vertical shaft 45 is installed through the transmission seat 41 and the wheel seat 5. The vertical shaft 45 is meshed with a worm gear 46 and a worm 47 arranged along the Y direction is installed. The worm 47 is driven to rotate by the chain drive assembly 7. A horizontally arranged Z-axis gear 43 is installed in the middle of the vertical shaft 45. A rotating shaft 61 is installed through the vertical wall of the horizontal transmission seat 41. The rotating shaft 61 is led out from the gearbox 6. An X-axis gear 42 that meshes with the Z-axis gear 43 is installed at the inner end of the rotating shaft 61. A wheel axle 101 is installed through the vertical wall of the horizontal wheel seat 5. An X-axis gear 44 that meshes with the Z-axis gear 43 is installed at the inner end of the wheel axle 101. A traveling wheel 10 is installed at the outer end of the wheel axle 101.

[0040] In this embodiment, when the shaft 61 is rotated via the gearbox 6, the X-axis gear 42 rotates, which in turn drives the X-axis gear 44 to rotate via the Z-axis gear 43, thereby driving the walking wheel 10 to rotate and move via the wheel axle 101. During normal straight-line movement, the vertical shaft 45, worm gear 46, and worm 47 remain stationary if there is no power input.

[0041] When the worm gear 47 is rotated via the chain drive assembly 7, the vertical shaft 45 is rotated via the worm wheel 46. The wheel seat 5 deflects as the vertical shaft 45 rotates, and the wheel seat 5 drives the wheel axle 101 and the traveling wheel 10 to deflect synchronously. At the same time, the X-axis gear 44 meshes and rotates relative to the Z-axis gear 43 in the horizontal plane. When the shaft 61 is not rotating, that is, when the traveling wheel 10 is not traveling, the vehicle can be turned in place by the rotation input of the worm gear 47, such as a right-angle turn to the left or right, which is especially suitable for the flexible use of vehicles in small spaces.

[0042] The top surface of the transmission seat 41 is equipped with a lower support lug 22, and the side of the base 12 is equipped with upper support lugs 21 at intervals along the Y direction. Each upper support lug 21 is equipped with a suspension column 2. The bottom ends of two suspension columns 2 are connected as one unit and then installed on the lower support lug 22. Thus, the transmission steering unit 4 is suspended on the base 12 through the suspension columns 2.

[0043] In actual operation, the suspension column 2 can be configured as a rotatable connection with the upper support lug 21 and the lower support lug 22, or a rotatable connection with a rotation limit, depending on the actual vehicle requirements.

[0044] A shock absorber 31 is mounted on the side of the transmission seat 41, and a through hole 131 is provided on the suspension seat 13 for the support shaft to be installed in the Y direction. The lower end of the shock absorber 3 is mounted on the shock absorber 31, and the upper end of the shock absorber 3 is mounted on the support shaft; thus realizing the shock absorption installation between the transmission steering unit 4 and the suspension seat 13.

[0045] In actual operation, the shock absorber 3 achieves its damping effect through the contraction of its own elastic element. The initial elastic force of the elastic element can be adjusted according to the actual vehicle requirements. The shock absorber 3 is rotatably connected to the support shaft and the shock absorber seat 31, or it is a rotatably connected with a rotation limit.

[0046] Both the transmission seat 41 and the wheel seat 5 have a U-shaped structure. The openings of the transmission seat 41 and the wheel seat 5 are arranged sideways to face each other, which effectively ensures that the wheel seat 5 can swing to the left or right relative to the transmission seat 41, and the overall structure is smooth. The X-axis gear 1 42, X-axis gear 2 44, and Z-axis gear 43 are all bevel gears, which effectively ensure the accuracy and precision of the transmission.

[0047] In this embodiment, the Z-axis gear 43, which is rotatably mounted on the vertical shaft 45, can transmit the rotational power input from the rotating shaft 61 to the wheel axle 101 to enable the walking wheel 10 to move. It can also ensure the reliability and stability of the wheel seat 5's swaying when the rotational power input from the worm gear 47 drives the wheel seat 5 to sway. The X-axis gear 44 rotates along the Z-axis gear 43 in the horizontal plane.

[0048] The worm gear 46 is mounted on the end of the vertical shaft 45, and the worm 47 is supported on the transmission seat 41 by the vertical plate 48 and the support 49, which effectively ensures that the rotational power in the horizontal direction is converted into the rotation of the vertical shaft 45 in the vertical direction, thus ensuring the reliability of power transmission.

[0049] like Figure 4 As shown, the chain drive assembly 7 has the following structure: it includes a vertically arranged support plate 70, the end of the worm gear 47 passes through the support plate 70 and is equipped with a driven sprocket 71, and a chain 72 is wound between the driven sprockets 71 located on both sides of the same gearbox 6; it also includes a transmission assembly 9 that connects the power between the two sets of chain drive assemblies 7 in the Y direction, the transmission assembly 9 including two synchronously rotating transmission sprockets 91, the two transmission sprockets 91 respectively meshing into the chains 72 of the two sets of chain drive assemblies 7; one set of chain drive assemblies 7 is driven by a driving power source through a driving sprocket 73; thus realizing the deflection and steering of the four end wheels 10 of the transmission steering unit 4 simultaneously by a driving power source through the transmission assembly 9 and the chain drive assembly 7.

[0050] In this embodiment, a single chain drive assembly 7 drives the driven sprockets 71 on both sides of the same gearbox 6 to rotate simultaneously, inputting rotational power to the worm gear 47 in the transmission steering unit 4 located on both sides of the same gearbox 6; while the transmission assembly 9 serves as the synchronous power transmission between the two chain drive assemblies 7. When one chain drive assembly 7 is driven by the first driving power, the other chain drive assembly 7 can be driven synchronously through the transmission assembly 9, realizing the synchronous rotation of the four-wheel drive.

[0051] like Figure 5 As shown, the structure of a single gearbox 6 is as follows: it includes a housing 60, on which two rotating shafts 61 are respectively installed along the X direction through the two walls. X-axis gears 63 are respectively installed at the inner ends of the two rotating shafts 61. Large gears 62 are respectively mounted on the single rotating shaft 61 located on the outside of the housing 60. It also includes an intermediate gear 64 that meshes with the two X-axis gears 63 at the same time, so that the two X-axis gears 63 can rotate synchronously through the intermediate gear 64. The large gears 62 form the power connection between gearboxes 6 and between gearboxes 6 and driving power.

[0052] A transmission assembly 2 8 is installed between the two gearboxes 6 for power connection. The transmission assembly 2 8 includes a transmission gear 81 that rotates synchronously in the same direction. The transmission gear 81 meshes with the large gear 62 in the corresponding gearbox 6, driving the rotating shafts 61 on both sides of the two gearboxes 6 to rotate synchronously in the same direction. One of the gearboxes 6 is driven by the second driving power through the active gear 65. This realizes that the second driving power, through the transmission assembly 2 8, connects the two gearboxes 6 and simultaneously drives the rotation and movement of the four drive steering unit 4 end walking wheels 10.

[0053] In this embodiment, the large gear 62 is fixedly mounted on the corresponding rotating shaft 61 and rotates synchronously; one of the large gears 62 in one of the gearboxes 6 meshes with the drive gear 65 at the output end of the second drive power, and the other large gear 62 in the gearbox 6 meshes with the transmission gear 81 in the second transmission assembly 8, thereby transmitting rotational power to the large gear 62 in the other gearbox 6 through the second transmission assembly 8, and finally driving the rotating shafts 61 in the two gearboxes 6 to rotate synchronously.

[0054] In this embodiment, the housing 60 serves as the structural support for the gearbox 6 and can be configured as a frame structure. One set of opposing surfaces are respectively mounted with rotating shafts 61, and an intermediate gear 64 is mounted on one of the other set of opposing surfaces. The intermediate gear 64 drives the two rotating shafts 61 in the same gearbox 6 to rotate synchronously. Of course, the housing 60 can also be configured with other structures, as long as it can achieve synchronous transmission and rotation of the two rotating shafts 61.

[0055] In practical use, the transmission ratios of the drive gear 65, large gear 62, X-axis gear 63, and intermediate gear 64 can be set according to the actual speed increase and deceleration requirements, so as to output a suitable rotation speed through the drive power two-way walking wheel 10.

[0056] This embodiment also proposes a vehicle including any of the above-described chassis drive devices.

[0057] The drive power unit 1, combined with the chain drive assembly 7, transmits power to each transmission steering unit 4, causing each walking wheel 10 to rotate synchronously to achieve steering, with a steering angle up to a right angle turn; the drive power unit 2, combined with the gearbox 6, transmits power to each transmission steering unit 4, causing each walking wheel 10 to rotate synchronously to achieve walking; thus, the four-wheel drive system, which uses drive power to achieve walking and rotation, not only effectively ensures driving stability and reliability, but also effectively reduces the cost of the mechanism and has good practicality.

[0058] The driving and steering method of this utility model is as follows:

[0059] When the second driving power unit is working, the drive gear 65 rotates, which drives the large gear 62 in the corresponding gearbox 6 to rotate. The large gear 62 drives the corresponding shaft 61 to rotate, and at the same time, the shaft 61 on the opposite side rotates through the X-axis gear 63, the intermediate gear 64, and the X-axis gear 63, thus making the shafts 61 on both sides of the gearbox 6 rotate synchronously. At the same time, the shaft 61 on the opposite side drives the corresponding large gear 62 to rotate, and the transmission gear 81 rotates. Through the transmission assembly 2 8, the large gear 62 in another gearbox 6 rotates, ultimately making the four shafts 61 on both sides of the two gearboxes rotate synchronously. Then, each shaft 61 drives the corresponding walking wheel 10 to rotate through the corresponding transmission steering unit 4, realizing the synchronous driving of the four wheels.

[0060] When the driving power is activated, the drive sprocket 73 rotates, driving the chain 72 in the corresponding chain drive assembly 7. The rotation of the driven sprockets 71 on both sides transmits the power to the worm gear 47 in the corresponding transmission steering unit 4. At the same time, the chain 72 drives the transmission sprocket 91 to rotate, which drives another set of chain drive assemblies 7 through the transmission assembly 9. In turn, the corresponding driven sprockets 71 drive the worm gears 47 in the other two transmission steering units 4 to rotate, so that the four wheel seats 5 deflect synchronously, realizing the deflection and steering of the four wheels.

[0061] This invention enables a vehicle to have a four-wheel drive suspension, with a simplified overall structure and a high degree of modularity. It can achieve right-angle steering without a turning radius, making it particularly suitable for situations with limited space.

[0062] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0063] The above description is an explanation of the present utility model and not a limitation thereof. The scope of the present utility model is defined by the claims. Within the protection scope of the present utility model, any form of modification may be made.

Claims

1. A chassis drive arrangement comprising a frame body (1), characterised in that: The frame body (1) comprises a crossbeam (11) arranged along the Y direction, a base (12) is arranged on the crossbeam (11) along the Y direction, and a suspension seat (13) is mounted on the base (12); the base (12) is mounted with a transmission steering unit (4) through a suspension column (2) on both sides along the X direction, a shock absorber (3) is mounted between the suspension seat (13) and the corresponding transmission steering unit (4); the power of two transmission steering units (4) adjacent along the X direction is connected through a gear box (6) and a chain transmission assembly (7), and a walking wheel (10) is mounted at the outer end of each transmission steering unit (4).

2. A chassis drive arrangement as claimed in claim 1, characterised in that: The structure of the transmission steering unit (4) is that: a transmission seat (41) and a wheel seat (5) are arranged laterally opposite to each other, a vertical shaft (45) is mounted through the transmission seat (41) and the wheel seat (5) from top to bottom, a worm (47) arranged along the Y direction is engaged and matched with the vertical shaft (45) through a worm gear (46), the worm (47) is driven to rotate by the chain transmission assembly (7), and a Z-direction gear (43) arranged horizontally is sleeved in the middle of the vertical shaft (45); a rotating shaft (61) is mounted through the vertical wall surface of the transmission seat (41) horizontally, the rotating shaft (61) is led out from the gear box (6), an X-direction gear one (42) engaged with the Z-direction gear (43) is mounted at the inner end of the rotating shaft (61); a wheel shaft (101) is mounted through the vertical wall surface of the wheel seat (5) horizontally, an X-direction gear two (44) engaged with the Z-direction gear (43) is mounted at the inner end of the wheel shaft (101), and a walking wheel (10) is mounted at the outer end of the wheel shaft (101).

3. A chassis drive arrangement as claimed in claim 2, characterised in that: The transmission seat (41) is mounted with a lower supporting lug (22), the base (12) is mounted with an upper supporting lug (21) along the Y direction, the suspension column (2) is mounted on each upper supporting lug (21), and the two suspension columns (2) are connected into one body and then mounted on the lower supporting lug (22).

4. A chassis drive arrangement as claimed in claim 2, characterised in that: The transmission seat (41) is mounted with a shock absorbing seat (31), the suspension seat (13) is provided with a through hole (131) for mounting a supporting shaft along the Y direction, the shock absorber (3) is mounted on the shock absorbing seat (31) at the lower end, and the shock absorber (3) is mounted on the supporting shaft at the upper end.

5. A chassis drive arrangement as claimed in claim 2, characterised in that: The transmission seat (41) and the wheel seat (5) are both in U-shaped structure, and the opening sides of the transmission seat (41) and the wheel seat (5) are arranged opposite to each other; the X-direction gear one (42), the X-direction gear two (44) and the Z-direction gear (43) are all bevel gears.

6. A chassis drive arrangement as claimed in claim 2, characterised in that: The worm gear (46) is sleeved on the end of the vertical shaft (45), and the worm (47) is supported on the transmission seat (41) by a vertical plate (48) and a support (49).

7. A chassis drive arrangement as claimed in claim 2, characterised in that: The chain transmission assembly (7) comprises a vertical support plate (70), a worm (47) penetrates through the support plate (70) and is provided with a driven sprocket (71), a chain (72) is wound between the driven sprockets (71) on the two sides of the same gear box (6); further comprising a transmission assembly I (9) which is power connected between the two groups of Y-direction chain transmission assemblies (7), the transmission assembly I (9) comprises two transmission sprockets (91) which rotate synchronously and in the same direction, the two transmission sprockets (91) are engaged into the chain (72) of the two groups of chain transmission assemblies (7) respectively; one group of chain transmission assemblies (7) is driven by the driving power I through a driving sprocket (73).

8. A chassis drive arrangement as claimed in claim 1, characterised in that: The single gear box (6) comprises a box body (60), the box body (60) is provided with a rotating shaft (61) penetrating through two walls along the X-direction, the opposite inner ends of the two rotating shafts (61) are provided with X-direction gear III (63) respectively, the single rotating shaft (61) on the outside of the box body (60) is provided with a bull gear (62); further comprising an intermediate gear (64) which is engaged with the two X-direction gear III (63) simultaneously.

9. A chassis drive arrangement as claimed in claim 8, characterised in that: The transmission assembly II (8) is power connected between the two gear boxes (6), the transmission assembly II (8) comprises a transmission gear (81) which rotates synchronously and in the same direction, the transmission gear (81) is engaged with the bull gear (62) in the corresponding gear box (6), so as to drive the rotating shafts (61) on the two sides of the two gear boxes (6) to rotate synchronously and in the same direction; one of the gear boxes (6) is driven by the driving power II through a driving gear (65).

10. A vehicle characterized by: The chassis driving device comprises the chassis driving device according to any one of claims 1-9.

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