A new four-wheel differential mobile chassis

Abstract

The utility model provides a novel four-wheel differential moving chassis, including chassis frame, the bottom front side of chassis frame is equipped with first drive fixed block, the bottom rear side of chassis frame is equipped with plate spring, still include drive wheel module, drive wheel module is fixed in the below of first drive fixed block, the both sides of drive wheel module are equipped with rubber tire, still include rear axle module, rear axle module is fixed in the below of plate spring, the both sides of rear axle module also are equipped with rubber tire, drive wheel module is in floating state all the time, when moving chassis passes through deceleration zone etc.

Description

Technical Field

[0001] This utility model relates to the field of mobile robots, and in particular to a novel four-wheel differential mobile chassis. Background Technology

[0002] In recent years, with the rapid development of intelligent manufacturing, smart logistics, and new energy charging, mobile robot technology has experienced explosive growth. As the core carrier of mobile robots, the performance of the mobile chassis directly determines the robot's mobility, stability, and scene adaptability. While traditional mobile chassis perform stably in structured environments, they suffer from the following problems in complex scenarios:

[0003] 1. Poor obstacle crossing ability: Traditional mobile chassis are difficult to adapt to complex terrain (such as steps, potholes, slopes, etc.), and the wheels are prone to being suspended in the air, resulting in uneven power distribution, affecting mobility and limiting the application scenarios of mobile chassis.

[0004] 2. Insufficient load capacity: Traditional chassis have limited load-bearing capacity and cannot meet high load requirements.

[0005] 3. Poor stability: During movement, traditional chassis are prone to shaking due to uneven terrain, affecting the safety and stability of the chassis.

[0006] Currently, traditional industrial chassis struggle to meet the demands of modern industry and service sectors for high mobility, high load capacity, and modular integration. Furthermore, in emerging scenarios such as mobile charging stations and intelligent logistics handling, users are placing even greater emphasis on chassis with high load capacity (>1000kg), long range, and rapid deployment. Therefore, there is an urgent need for a new type of four-wheel differential mobile chassis that innovates in its mechanical structure to address the shortcomings of existing technologies and promote the industrial application of mobile robot technology. Utility Model Content

[0007] The purpose of this invention is to provide a novel four-wheel differential mobile chassis to solve the problems existing in the prior art.

[0008] To achieve the above objectives, this utility model provides the following solution:

[0009] This utility model provides a novel four-wheel differential mobile chassis, comprising:

[0010] A chassis frame, wherein a first drive fixing block and a second drive fixing block are provided on the bottom front side of the chassis frame, and a leaf spring is provided on the bottom rear side of the chassis frame.

[0011] A drive wheel module is fixed below the first drive fixing block and the second drive fixing block, and rubber tires are installed on both sides of the drive wheel module;

[0012] The rear axle module is fixed below the leaf spring, and rubber tires are also installed on both sides of the rear axle module.

[0013] Preferably, the chassis frame is a rectangular structure.

[0014] Preferably, the drive wheel module includes a drive fixing plate, and a first shock-absorbing fixing component and a second shock-absorbing fixing component are fixed to the side of the drive fixing plate. The first shock-absorbing fixing component is fixedly connected to the first drive fixing block, and the second shock-absorbing fixing component is fixedly connected to the second drive fixing block. A motor fixing plate is provided below the drive fixing plate, and a drive motor is fixed on the motor fixing plate. The drive motor is connected to the rubber tire. A rectangular spring and an optical shaft are installed between the drive fixing plate and the motor fixing plate.

[0015] Preferably, a shock-absorbing assembly is fixed below the motor mounting plate, a linear bearing is fixed on the shock-absorbing assembly, the top of the optical axis is fixed to the bottom of the drive mounting plate, and the lower part of the optical axis is limited within the linear bearing.

[0016] Preferably, a spring fixing block is fixed on the motor fixing plate, the top of the rectangular spring is fixedly connected to the drive fixing plate, and the bottom of the rectangular spring is fixedly connected to the spring fixing block.

[0017] Preferably, the rear axle module includes a rear axle tube, a rear wheel axle is inserted through the rear axle tube, the rear axle tube is installed in the middle of the leaf spring by a U-shaped clip, and is fixedly connected by a pressure plate.

[0018] Preferably, the leaf spring is fixed to the underside of the chassis frame by front and rear lugs.

[0019] Preferably, the pressure plate is a five-hole pressure plate.

[0020] The present invention achieves the following beneficial technical effects compared to the prior art:

[0021] This utility model provides a novel four-wheel differential mobile chassis, including a chassis frame, a first drive fixing block at the bottom front of the chassis frame, and a leaf spring at the bottom rear of the chassis frame; it also includes a drive wheel module, which is fixed below the first drive fixing block, and rubber tires are installed on both sides of the drive wheel module; it also includes a rear axle module, which is fixed below the leaf spring, and rubber tires are also installed on both sides of the rear axle module; the drive wheel module is always in a floating state, and when the mobile chassis passes through complex terrain such as speed bumps, the drive wheel module will automatically adjust the height of the rubber tires to adapt to the ground, while the rear axle module itself remains stable, enabling the mobile charging pile chassis to safely and stably pass through complex terrain such as speed bumps, ensuring the safe driving of the mobile chassis. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 A schematic diagram of the novel four-wheel differential mobile chassis structure provided by this utility model;

[0024] Figure 2 A schematic diagram of the outer structure of the drive wheel module in the novel four-wheel differential mobile chassis provided by this utility model;

[0025] Figure 3 A schematic diagram of the inner structure of the drive wheel module in the novel four-wheel differential mobile chassis provided by this utility model;

[0026] Figure 4 A schematic diagram of the rear axle module structure of the novel four-wheel differential mobile chassis provided by this utility model;

[0027] In the diagram: 1. Chassis frame; 2. Rear axle module; 3. Drive wheel module; 4. Rear hanger; 5. Front hanger; 6. First drive mounting block; 7. Second drive mounting block; 8. Leaf spring; 9. First shock absorber mounting assembly; 10. Second shock absorber mounting assembly; 11. Rear axle tube; 12. Rubber tire; 13. U-shaped clip; 14. Pressure plate; 15. Rectangular spring; 16. Optical shaft; 17. Linear bearing; 18. Motor mounting plate; 19. Drive motor; 20. Spring mounting block; 21. Drive mounting plate; 22. Shock absorber assembly. Detailed Implementation

[0028] The serial numbers assigned to components in this document, such as "first" and "second," are used only to distinguish the described objects and have no sequential or technical meaning. The terms "connection" and "linkage" used in this application, unless otherwise specified, include both direct and indirect connections (linkages). In the description of this utility model, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this utility model and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0029] In this utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0030] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0031] The purpose of this invention is to provide a novel four-wheel differential mobile chassis to solve the problems existing in the prior art.

[0032] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0033] Example 1:

[0034] This embodiment provides a novel four-wheel differential mobility chassis, including:

[0035] The chassis frame 1 serves as the supporting structure for the chassis. The bottom front side of the chassis frame 1 is provided with a first drive fixing block 6 and a second drive fixing block 7, and the bottom rear side of the chassis frame 1 is provided with a leaf spring 8.

[0036] Drive wheel module 3 is used for front-wheel drive. Drive wheel module 3 is fixed below the first drive fixing block 6 and the second drive fixing block 7. Rubber tires 12 are installed on both sides of drive wheel module 3.

[0037] The rear axle module 2 is used for rear wheel load bearing. The rear axle module 2 is fixed below the leaf spring 8, and rubber tires 12 are also installed on both sides of the rear axle module 2.

[0038] As one implementation method, the chassis frame 1 is a rectangular structure, which can be made of square tubing welded together.

[0039] In one embodiment, the drive wheel module 3 includes a drive fixing plate 21. A first shock-absorbing fixing component 9 and a second shock-absorbing fixing component 10 are fixed to the side of the drive fixing plate 21. The first shock-absorbing fixing component 9 is fixedly connected to the first drive fixing block 6, and the second shock-absorbing fixing component 10 is fixedly connected to the second drive fixing block 7. A motor fixing plate 18 is provided below the drive fixing plate 21. A drive motor 19 is fixed on the motor fixing plate 18. The drive motor 19 is connected to the rubber tire 12 for transmission, thereby realizing drive transmission. A rectangular spring 15 and an optical shaft 16 are installed between the drive fixing plate 21 and the motor fixing plate 18 as shock-absorbing and guiding components.

[0040] In one implementation, a shock-absorbing assembly 22 is fixed below the motor mounting plate 18, and a linear bearing 17 is fixed on the shock-absorbing assembly 22. The top of the optical axis 16 is fixed to the bottom of the drive mounting plate 21, and the lower part of the optical axis 16 is limited within the linear bearing 17, thereby achieving the guiding function.

[0041] In one implementation, a spring fixing block 20 is fixed on the motor fixing plate 18, the top of the rectangular spring 15 is fixedly connected to the drive fixing plate 21, and the bottom of the rectangular spring 15 is fixedly connected to the spring fixing block 20, thereby achieving the shock absorption function.

[0042] In one embodiment, the rear axle module 2 includes a rear axle tube 11, through which a rear wheel axle is inserted. The rear axle tube 11 is installed in the middle of the leaf spring 8 by a U-shaped clip 13 and is fixedly connected by a pressure plate 14.

[0043] In one implementation, the leaf spring 8 is fixed to the bottom of the chassis frame 1 by the front hanger 5 and the rear hanger 4.

[0044] In one implementation, the pressure plate 14 is a five-hole pressure plate 14, and the U-shaped clip 13 passes through the hole and is fastened by a nut.

[0045] This utility model provides a novel four-wheel differential mobile chassis. When the mobile chassis passes through complex terrain such as speed bumps, the rectangular spring 15 adjusts its length according to the pressure it receives, and the linear bearing 17 adjusts its distance by moving on the optical shaft 16, thereby adjusting the position of the rubber tire 12 to ensure that the rubber tire 12 is always in contact with the ground; the rear axle module 2 always remains stable, ensuring that the mobile chassis passes through complex terrain such as speed bumps safely and stably.

[0046] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0047] It should be noted that the components mentioned in the above embodiments are all general standard parts or components known to those skilled in the art. Their structures and principles can be learned by those skilled in the art through technical manuals or conventional experimental methods.

[0048] This utility model uses specific examples to illustrate its principles and implementation methods. The above description of the embodiments is only for the purpose of helping to understand the method and core idea of ​​this utility model. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the idea of ​​this utility model. In summary, the content of this specification should not be construed as a limitation of this utility model.

Claims

1. A novel four-wheel differential mobile chassis, characterized in that: include: A chassis frame, wherein a first drive fixing block and a second drive fixing block are provided on the bottom front side of the chassis frame, and a leaf spring is provided on the bottom rear side of the chassis frame. A drive wheel module is fixed below the first drive fixing block and the second drive fixing block, and rubber tires are installed on both sides of the drive wheel module; The rear axle module is fixed below the leaf spring, and rubber tires are also installed on both sides of the rear axle module.

2. The novel four-wheel differential mobile chassis according to claim 1, characterized in that: The chassis frame is a rectangular structure.

3. The novel four-wheel differential mobile chassis according to claim 1, characterized in that: The drive wheel module includes a drive fixing plate. A first shock-absorbing fixing component and a second shock-absorbing fixing component are fixed to the side of the drive fixing plate. The first shock-absorbing fixing component is fixedly connected to the first drive fixing block, and the second shock-absorbing fixing component is fixedly connected to the second drive fixing block. A motor fixing plate is provided below the drive fixing plate. A drive motor is fixed on the motor fixing plate. The drive motor is connected to the rubber tire. A rectangular spring and an optical shaft are installed between the drive fixing plate and the motor fixing plate.

4. The novel four-wheel differential mobile chassis according to claim 3, characterized in that: A shock-absorbing assembly is fixed below the motor mounting plate, and a linear bearing is fixed on the shock-absorbing assembly. The top of the optical axis is fixed to the bottom of the drive mounting plate, and the lower part of the optical axis is limited within the linear bearing.

5. The novel four-wheel differential mobile chassis according to claim 3, characterized in that: A spring fixing block is fixed on the motor fixing plate. The top of the rectangular spring is fixedly connected to the drive fixing plate, and the bottom of the rectangular spring is fixedly connected to the spring fixing block.

6. The novel four-wheel differential mobile chassis according to claim 1, characterized in that: The rear axle module includes a rear axle tube, through which a rear wheel axle is inserted. The rear axle tube is installed in the middle of the leaf spring by a U-shaped clip and is fixedly connected by a pressure plate.

7. The novel four-wheel differential mobile chassis according to claim 6, characterized in that: The leaf spring is fixed to the bottom of the chassis frame by the front and rear lugs.

8. The novel four-wheel differential mobile chassis according to claim 6, characterized in that: The pressure plate is a five-hole pressure plate.

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