Steering wheel all-terrain chassis

Abstract

The utility model discloses a steering wheel all-terrain chassis, which comprises a chassis main body module and a steering wheel driving module arranged on the chassis main body module, the steering wheel driving module comprises a steering motor, a steering wheel connecting plate D, a steering wheel connecting plate A, a steering wheel connecting plate B, a shock-proof spring, a direct current brushless gear motor and a rubber tire, the steering motor is arranged on the chassis main body module, and the steering wheel driving module is arranged on the chassis main body module. The output end penetrates to the position below the chassis body module and is connected with a steering wheel connecting plate D. The two sides of the steering wheel connecting plate D are symmetrically connected with steering wheel connecting plates A. One end of each steering wheel connecting plate A is hinged to one end of a steering wheel connecting plate B. The other end of each steering wheel connecting plate B is connected with the other end of the corresponding steering wheel connecting plate A through a shock-proof spring. A rubber tire is arranged between the two steering wheel connecting plates B. And a direct-current brushless gear motor is mounted on the steering wheel connecting plate B. The triangular structure is formed by the steering wheel connecting plate A, the steering wheel connecting plate B and the shock-proof spring on the two sides, the shock-proof spring is used for supporting movement between the steering wheel connecting plate A and the steering wheel connecting plate B, and therefore vibration filtering is achieved, and the shock absorption effect is achieved.

Description

Technical Field

[0001] This utility model relates to the technical field of robot chassis, specifically to a steering wheel all-terrain chassis. Background Technology

[0002] With the continuous development of robotics technology, mobile robots are being used more and more widely in various fields, such as agriculture, logistics, and rescue. However, existing mobile robot chassis have many problems in adapting to complex terrains, making it difficult to meet practical needs. The steering wheel in a mobile robot chassis typically consists of a hub, tires, a motor, a reducer, and a control system. The motor is connected to the wheel via the reducer to provide driving force, causing the wheel to rotate and move forward or backward. Steering is achieved through an independent steering mechanism; the steering motor drives the steering wheel to rotate around a vertical axis, thereby precisely controlling the steering angle.

[0003] The steering wheel chassis has multiple movement modes, such as forward, backward, lateral movement, and stationary rotation. These movements can be achieved by adjusting the steering angle and speed of the steering wheels. For example, forward movement is achieved when all steering wheels rotate at the same speed and in the same direction; lateral movement is achieved when the left and right steering wheels rotate at different speeds; and stationary rotation is achieved when some steering wheels rotate at different speeds and in different directions.

[0004] However, common steering wheel chassis are generally unsustainable in order to reduce chassis movement fluctuations. However, the unsustainable design makes the chassis less adaptable to complex terrain, and when applied to complex terrain, it cannot provide better stability performance.

[0005] Therefore, there is an urgent need for a steering wheel all-terrain chassis to solve the problem of the lack of suspension structure in common steering wheel chassis. Utility Model Content

[0006] This utility model addresses the shortcomings of existing technologies by providing a steering wheel all-terrain chassis to solve the problem of common steering wheel chassis lacking a suspension structure.

[0007] To achieve the above objectives, the present invention adopts the following technical solution:

[0008] A steering wheel all-terrain chassis, characterized in that it comprises a chassis main module and at least three steering wheel drive modules equally spaced on the chassis main module. Each steering wheel drive module includes a steering motor, a steering wheel connecting plate D, two steering wheel connecting plates A, two steering wheel connecting plates B, two shock-absorbing springs, a DC brushless geared motor, and rubber tires. The steering motor is mounted on the chassis main module, and its output end rotatably extends vertically downwards to the bottom of the chassis main module and connects to the steering wheel connecting plate D. A steering wheel connecting plate A is symmetrically connected to each side of the steering wheel connecting plate D. One end of each steering wheel connecting plate A is hinged to one end of a steering wheel connecting plate B. The other end of each steering wheel connecting plate B is connected to the other end of each steering wheel connecting plate A via shock-absorbing springs. The rubber tires are rotatably disposed between two steering wheel connecting plates B. A DC brushless geared motor for connecting and driving the rotation of the rubber tires is mounted on each steering wheel connecting plate B.

[0009] To optimize the above technical solution, the specific measures also include:

[0010] Furthermore, the steering wheel drive module also includes a steering motor connector, a lower bearing plate, and a deep groove ball bearing. The steering motor connector is connected to the chassis main body module. The deep groove ball bearing is mounted on the steering motor connector via the lower bearing plate. The steering motor is mounted on the lower bearing plate, and its output end is rotatably mounted on the motor connector via the deep groove ball bearing, passing through the steering motor connector to the underside of the chassis main body module.

[0011] Furthermore, the steering wheel drive module also includes an upper bearing plate, an electric slip ring connector, an electric slip ring, and a connector. The output shaft of the steering motor has a coaxial and vertical through hole, and the lower end of the output shaft is connected to the steering wheel connecting plate D through the connector. The connector has a cavity communicating with the through hole, and several channels communicating with the cavity are opened on the side wall. An upper bearing plate is installed on the steering motor, and an electric slip ring connector for connecting the electric slip ring is installed on the upper bearing plate. The wire at the lower end of the electric slip ring passes through the upper bearing plate and enters the through hole, and then passes out through the channel of the connector and connects to the DC brushless geared motor.

[0012] Furthermore, the steering motor is a GM6020 brushless DC motor.

[0013] Furthermore, the steering wheel drive module is provided in four parts, and is arranged in an equally spaced array around the chassis main body module.

[0014] Furthermore, the chassis main module includes a vehicle body frame and a vehicle body inclined bracket. The vehicle body frame is rectangular, and two adjacent sides of the rectangular vehicle body frame are diagonally connected to a vehicle body inclined bracket. Each vehicle body inclined bracket and the corresponding triangular part of the vehicle body frame form a triangular bracket structure, and the steering motor is installed at the triangular bracket structure.

[0015] Furthermore, the chassis main body module also includes triangular iron connectors, and triangular iron connectors for connecting and supporting the vehicle body frame and the vehicle body inclined bracket are respectively installed inside the triangular frame structure and on both sides of the steering motor.

[0016] Furthermore, the vehicle body frame, the vehicle body inclined bracket, and the triangular iron connector are made of European standard 2020 aluminum profiles.

[0017] Furthermore, the brushless DC geared motor is a 3508 brushless DC geared motor.

[0018] The beneficial effects of this utility model are:

[0019] This invention uses a chassis main module and at least three equally spaced steering wheel drive modules on the chassis main module as a stable chassis structure. A steering motor connects to the steering wheel connecting plate D and other structures to drive the steering of the rubber tires below. The steering wheel connecting plates A and B on both sides and the shock absorber springs form a triangular structure, and the shock absorber springs support the movement between the steering wheel connecting plates A and B, thereby achieving vibration filtering and providing shock absorption. The entire device moves by driving the rubber tires to rotate through a DC brushless geared motor. This invention solves the problem that common steering wheel chassis lack a suspension structure, which makes it difficult to provide optimal stability when applied to complex terrain. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of a steering wheel all-terrain chassis proposed in this utility model;

[0021] Figure 2 This is a schematic diagram of the steering wheel drive module of a steering wheel all-terrain chassis proposed in this utility model;

[0022] Figure 3 This is a structural schematic diagram of the main chassis module of a steering wheel all-terrain chassis proposed in this utility model.

[0023] Reference numerals: 1. Steering wheel drive module, 101. Steering wheel connecting plate A, 102. Steering wheel connecting plate B, 103. Electric slip ring connector, 104. Steering motor, 105. Steering wheel connecting plate C, 106. Motor drive mounting plate, 107. Connector, 108. Shock absorber spring, 109. Electric slip ring, 110. DC brushless geared motor, 111. Rubber tire, 112. Deep groove ball bearing, 113. Steering motor connector, 114. Lower bearing plate, 115. Upper bearing plate, 2. Chassis main module, 201. Vehicle body frame, 202. Vehicle body diagonal bracket, 203. Triangle iron connector. Detailed Implementation

[0024] The present invention will now be described in detail with reference to the accompanying drawings.

[0025] As attached Figure 1 and attached Figure 2 As shown in the figure, an all-terrain chassis with steering wheels according to an embodiment of the present invention includes a chassis main module 2 and at least three steering wheel drive modules 1 equally spaced on the chassis main module 2. The steering wheel drive module 1 includes a steering motor 104, a steering wheel connecting plate D105, two steering wheel connecting plates A101, two steering wheel connecting plates B102, two shock absorber springs 108, a DC brushless geared motor 110, and rubber tires 111. The steering motor 104 is mounted on the chassis main module 2, and its output end is rotatably vertically downward through the chassis main module. Below block 2, a steering wheel connecting plate D105 is connected. A steering wheel connecting plate A101 is symmetrically connected to both sides of the steering wheel connecting plate D105. One end of each steering wheel connecting plate A101 is hinged to one end of a steering wheel connecting plate B102. The other end of each steering wheel connecting plate B102 is connected to the other end of the steering wheel connecting plate A101 through a shock-absorbing spring 108. A rubber tire 111 is rotatably positioned between the two steering wheel connecting plates B102. A DC brushless geared motor 110 is installed on the steering wheel connecting plate B102 to connect and drive the rotation of the rubber tire 111.

[0026] This invention uses a chassis main module 2 and at least three steering wheel drive modules 1 evenly spaced on the chassis main module 2 as a stable chassis structure. A steering motor 104 connects to the steering wheel connecting plate D105 and other structures to drive the steering of the rubber tires 111 and other structures below. The steering wheel connecting plates A101 and B102 on both sides and the shock absorber springs 108 form a triangular structure, and the shock absorber springs 108 are responsible for supporting the movement between the steering wheel connecting plates A101 and B102, thereby achieving vibration filtering and providing shock absorption. The entire device moves by driving the rubber tires 111 to rotate through the DC brushless geared motor 110. This invention solves the problem that common steering wheel chassis lack suspension structures, which makes it difficult to provide good stability when applied to complex terrain.

[0027] In the above scheme, there is space between the rubber tire 111 and the steering wheel connecting plate D105 for elastic displacement of the rubber tire 111. The shock absorber spring 108 is used to dampen shocks and drive the rubber tire 111 to return to its original position. In the above scheme, the steering wheel drive module 1 has a modular structure, which can add modules as needed and can adaptively adjust shock absorption according to terrain changes, ensuring that each wheel maintains good contact with the ground, improving grip and stability. Based on the above scheme, a high-precision dual encoder motor can be selected as needed, and the steering wheel drive module 1 can be flexibly steered and driven through the high-precision dual encoder motor. It can also be combined with a torque sensor and structures such as the shock absorber spring 108 to effectively reduce operating noise and improve motion stability and control accuracy.

[0028] In another specific embodiment based on the above, the steering wheel drive module 1 further includes a steering motor connector 113, a lower bearing plate 114, and a deep groove ball bearing 112. The steering motor connector 113 is connected to the chassis main body module 2. The deep groove ball bearing 112 is mounted on the steering motor connector 113 through the lower bearing plate 114. The steering motor 104 is mounted on the lower bearing plate 114, and its output end is rotatably mounted on the motor connector 113 through the deep groove ball bearing 112 and passes through the steering motor connector 113 to the bottom of the chassis main body module 2.

[0029] In another specific embodiment based on the above, the steering wheel drive module 1 further includes an upper bearing plate 115, an electric slip ring connector 103, an electric slip ring 109, and a connector 107. The output shaft of the steering motor 104 has a coaxial and vertical through hole, and the lower end of the output shaft is connected to the steering wheel connecting plate D105 via the connector 107. The connector 107 has a cavity communicating with the through hole, and its side wall has several channels communicating with the cavity. The upper bearing plate 115 is mounted on the steering motor 104, and the electric slip ring connector 103 for connecting the electric slip ring 109 is mounted on the upper bearing plate 115. The wire at the lower end of the electric slip ring 109 passes through the upper bearing plate 115, enters the through hole, and exits through the channel of the connector 107, connecting to the DC brushless geared motor 110. Thus, during use, the electric slip ring 109 can provide a rotatable wire, increasing the overall stability and safety of the device.

[0030] The aforementioned steering motor 104 is a GM6020 DC brushless motor.

[0031] As attached Figure 3 As shown, in another specific embodiment based on the above, there are four steering wheel drive modules 1, which are arranged in an equally spaced array around the chassis main body module 2.

[0032] The aforementioned chassis main module 2 includes a vehicle body frame 201 and a vehicle body inclined bracket 202. The vehicle body frame 201 is rectangular, and two adjacent sides of the rectangular frame are diagonally connected by a vehicle body inclined bracket 202. Each vehicle body inclined bracket 202 and the corresponding triangular part of the vehicle body frame 201 form a triangular bracket structure, and the steering motor 104 is installed at the triangular bracket structure. In this way, the triangular bracket structure can provide a stable installation space.

[0033] The chassis main module 2 also includes triangular iron connectors 203. Triangular iron connectors 203 are installed within the triangular frame structure on both sides of the steering motor 104 to connect and support the vehicle body frame 201 and the vehicle body inclined support 202. Thus, the triangular iron connectors 203 further increase the stability of the structure.

[0034] The aforementioned vehicle body frame 201, vehicle body inclined bracket 202, and triangular iron connector 203 are made of European standard 2020 aluminum profiles, improving the overall structural versatility. The 2020 aluminum profiles also provide high and convenient expandability. The rubber tires 111 combine pneumatic rubber tires with hydraulically damping springs 108, improving adaptability to complex road conditions and enhancing the robot chassis's stability during operation. The steering wheel connecting plates D105, A101, and B102 are made of carbon fiber and 3D printed materials, ensuring high strength while reducing weight. Connectors 107 and steering motor connectors 113 utilize aluminum alloy CNC machining. The strength and deformation analysis of the aluminum alloy structural components are within the stress range of the vehicle's weight, ensuring that even if the vehicle stops suddenly at high speed, the resulting pressure and lateral G-force will not cause irreversible damage to the structural components. Among them, the aforementioned brushless DC geared motor 110 adopts a 3508 brushless DC geared motor.

[0035] The aforementioned shock absorber springs 108 and other structures can be equipped with accelerometer sensors as needed to monitor wheel posture in real time and adjust suspension height to maintain vehicle balance. The steering motor 104 can be a DJI 6020 motor, responsible for wheel steering control. The brushless DC geared motor 110 can be a DJI 3508 motor, responsible for wheel drive control. The steering motor 104 and brushless DC geared motor 110 communicate with the main control board via a CAN bus to achieve independent control, such as overall motion control of the steering wheel robot, including forward and backward movement, left and right turning, and turning in place. A gyroscope can also be added as needed to provide feedback on direction, allowing the robot to "know" its orientation.

[0036] The DJI 6020 motor, equipped with a position encoder, allows for precise angle control and is suitable as a steerable motor. The DJI 3508 motor, through a closed-loop speed loop, achieves stable speed control and can be used as a propulsion motor. All eight motors in this structure use CAN communication. Built-in sensors in the motors provide feedback on motor speed, angle, temperature, and other values, ensuring the overall stability of the structure. The DJI 6020 and DJI 3508 motors are assigned the same model number but different ID numbers, and a 120Ω terminating resistor is added to the ESC of the DJI 3508 motor to improve anti-interference capabilities and prevent coupling between different motors.

[0037] It should be noted that the terms such as "upper", "lower", "left", "right", "front", and "back" used in this utility model are only for clarity of description and are not intended to limit the scope of implementation of this utility model. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered as within the scope of implementation of this utility model.

[0038] The above are merely preferred embodiments of this utility model. The protection scope of this utility model is not limited to the above embodiments. All technical solutions falling within the scope of this utility model's concept are within its protection scope. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principle of this utility model should be considered within its protection scope.

Claims

1. A steering wheel all-terrain chassis, characterized in that: The system includes a chassis main module (2) and at least three steering wheel drive modules (1) equally spaced on the chassis main module (2). Each steering wheel drive module (1) includes a steering motor (104), a steering wheel connecting plate D (105), two steering wheel connecting plates A (101), two steering wheel connecting plates B (102), two shock absorber springs (108), a DC brushless geared motor (110), and rubber tires (111). The steering motor (104) is mounted on the chassis main module (2), and its output end is rotatably extended vertically downward to the bottom of the chassis main module (2) and connected to the steering wheel connecting plate D (105). Plate D (105), with a rudder wheel connecting plate A (101) symmetrically connected to both sides of the rudder wheel connecting plate D (105). One end of each rudder wheel connecting plate A (101) is hinged to one end of a rudder wheel connecting plate B (102). The other end of each rudder wheel connecting plate B (102) is connected to the other end of the rudder wheel connecting plate A (101) through a shock-absorbing spring (108). The rubber tire (111) is rotatably disposed between the two rudder wheel connecting plates B (102). A DC brushless geared motor (110) for connecting and driving the rubber tire (111) to rotate is installed on the rudder wheel connecting plate B (102).

2. The all-terrain chassis with a steering wheel according to claim 1, characterized in that: The steering wheel drive module (1) also includes a steering motor connector (113), a lower bearing plate (114), and a deep groove ball bearing (112). The steering motor connector (113) is connected to the chassis main module (2). The deep groove ball bearing (112) is mounted on the steering motor connector (113) through the lower bearing plate (114). The steering motor (104) is mounted on the lower bearing plate (114), and its output end is rotatably mounted on the motor connector (113) through the deep groove ball bearing (112) and passes through the steering motor connector (113) to the bottom of the chassis main module (2).

3. The all-terrain chassis with a steering wheel according to claim 1, characterized in that: The steering wheel drive module (1) also includes an upper bearing plate (115), an electric slip ring connector (103), an electric slip ring (109), and a connector (107). The output shaft of the steering motor (104) is provided with a coaxial and vertical through hole, and the lower end of the output shaft is connected to the steering wheel connecting plate D (105) through the connector (107). The connector (107) is provided with a cavity communicating with the through hole, and several channels communicating with the cavity are opened on the side wall. The upper bearing plate (115) is installed on the steering motor (104), and the electric slip ring connector (103) for connecting the electric slip ring (109) is installed on the upper bearing plate (115). The wire at the lower end of the electric slip ring (109) passes through the upper bearing plate (115) and enters the through hole, and then passes out from the channel of the connector (107) and is connected to the DC brushless geared motor (110).

4. The all-terrain chassis with a steering wheel according to claim 3, characterized in that: The steering motor (104) is a GM6020 DC brushless motor.

5. The all-terrain chassis with a steering wheel according to claim 1, characterized in that: The steering wheel drive module (1) has four units, which are arranged in an equally spaced array around the chassis main module (2).

6. The all-terrain chassis with a steering wheel according to claim 5, characterized in that: The chassis main module (2) includes a vehicle body frame (201) and a vehicle body inclined bracket (202). The vehicle body frame (201) is rectangular. Two adjacent sides of the rectangular frame vehicle body frame (201) are diagonally connected to each other by a vehicle body inclined bracket (202). Each vehicle body inclined bracket (202) and the corresponding triangular part of the vehicle body frame (201) form a triangular frame structure. The steering motor (104) is installed at the triangular frame structure.

7. A steering wheel all-terrain chassis according to claim 6, characterized in that: The chassis main module (2) also includes a triangular iron connector (203). The triangular iron connector (203) is installed in the triangular frame structure and on both sides of the steering motor (104) to connect and support the vehicle body frame (201) and the vehicle body inclined bracket (202).

8. The all-terrain chassis with a steering wheel according to claim 7, characterized in that: The vehicle body frame (201), the vehicle body inclined bracket (202), and the triangular iron connector (203) are made of European standard 2020 aluminum profiles.

9. A steering wheel all-terrain chassis according to claim 1, characterized in that: The DC brushless geared motor (110) is a 3508 DC brushless geared motor.

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