Steering system and chassis

Abstract

This utility model relates to the field of chassis technology, providing a steering system and chassis. The steering system includes: a wheelset assembly, a steering assembly, and multiple shock absorber assemblies. The steering assembly includes a rotating platform and a steering motor, with the steering motor mounted on the top surface of the rotating platform. Multiple shock absorber assemblies are spaced apart along the forward direction of the wheelset assembly. Each shock absorber assembly includes a shock absorber and a radial fixing member. The top of the shock absorber is vertically connected to the rotating platform, and the bottom of the shock absorber is connected to the wheelset assembly. The radial fixing member is located on the bottom surface of the rotating platform and on the outer periphery of the shock absorber. This utility model can prevent the shock absorber from twisting, keeping the wheelbase and track width of the wheelset assembly constant, thereby preventing lateral movement. The shock absorber assemblies not only provide shock absorption but also act as a single-sided support with the steering assembly, further preventing lateral slippage of the wheelset assembly and ensuring its operation according to a set kinematic model, resulting in high safety.

Description

Technical Field

[0001] This utility model relates to the field of chassis technology, and in particular to a steering system and chassis. Background Technology

[0002] Omnidirectional wheel chassis technology, with its unique motion characteristics, has achieved groundbreaking applications in robotics, agricultural automation, and industrial automation. Its core advantage lies in breaking through the steering limitations of traditional chassis, enabling zero-radius in-situ turning, diagonal movement, and omnidirectional translation through multi-wheel coordinated control. This significantly improves the mobility and operational flexibility of equipment in confined spaces (such as warehouse shelving and complex indoor aisles) and high-precision operation scenarios (such as precision assembly and medical robot operation).

[0003] However, existing shock absorption mechanisms use multi-link shock absorption mechanisms. When buffering impacts, the dynamic slippage of the wheel contact point with the ground causes the chassis wheelbase / track parameters to change in real time, which destroys the pre-calibrated kinematic model and results in poor safety. Utility Model Content

[0004] This invention provides a steering system and chassis to solve the problem that the shock absorption mechanism of the chassis in the prior art is prone to lateral slippage, which destroys the pre-set kinematic model and results in poor safety.

[0005] This utility model provides a steering system, including: a wheel assembly; a steering assembly including a rotating platform and a steering motor, the steering motor being mounted on the top surface of the rotating platform; a plurality of shock-absorbing assemblies, the plurality of shock-absorbing assemblies being spaced apart along the forward direction of the wheel assembly; each shock-absorbing assembly including a shock absorber and a radial fixing member, the top of the shock absorber being vertically connected to the rotating platform, the bottom of the shock absorber being connected to the wheel assembly, and the radial fixing member being disposed on the bottom surface of the rotating platform, the radial fixing member being located on the outer periphery of the shock absorber.

[0006] According to the present invention, a steering system is provided in which the radial fixing member includes a first limiting part and a second limiting part, the first limiting part and the second limiting part surrounding and forming a limiting space for accommodating the shock absorber.

[0007] According to the present invention, a steering system is provided in which a shaped groove is provided in the limiting space, and a shaped part is provided on the outer wall of the shock absorber, the shaped part being embedded in the shaped groove.

[0008] According to the present invention, a steering system is provided, wherein the shock absorption assembly further includes an axial fixing member, the rotating platform is provided with a through hole, the shock absorber passes through the through hole, and the axial fixing member is connected to the top of the shock absorber to limit the axial displacement of the shock absorber.

[0009] According to the present invention, a steering system is provided, wherein the axial fixing member includes a nut, and the top of the shock absorber is provided with a threaded section, the threaded section passing through the through hole and being threadedly connected to the nut.

[0010] According to the present invention, a steering system is provided, wherein the steering assembly further includes a first reducer, the output end of the steering motor is connected to the input end of the first reducer, and the output end of the first reducer is fixedly connected to the top surface of the rotating platform.

[0011] According to the present invention, a steering system is provided, wherein the wheel assembly includes a tire, a slewing bearing and a housing, the bottom of the shock absorber is connected to the housing, the two ends of the slewing bearing are fixedly connected to the tire and the housing respectively, and the slewing bearing is perpendicular to the shock absorber.

[0012] According to the present invention, a steering system is provided, wherein the wheel assembly includes a drive motor, the drive motor is disposed in the housing, and the output end of the drive motor is connected to the tire.

[0013] According to the present invention, a steering system is provided, wherein the wheel assembly further includes a second reducer, the output end of the drive motor is connected to the input end of the second reducer, and the output end of the second reducer is connected to the tire.

[0014] This utility model also provides a chassis, including a plurality of steering systems as described in any of the above claims, and a base plate, wherein the plurality of steering systems are fixed at different positions on the base plate.

[0015] The steering system and chassis provided by this utility model, by mounting the steering motor on the top surface of the rotating platform and vertically setting the shock absorber assembly between the rotating platform and the wheel assembly, allows the steering motor to drive the rotating platform and thus the shock absorber assembly and wheel assembly to turn independently, thereby achieving high flexibility and strong stability. By setting multiple shock absorber assemblies at intervals along the forward direction of the wheel assembly, it can act as a support frame to ensure stability during driving. By setting radial fixing members on the bottom surface of the rotating platform, located on the outer periphery of the shock absorber, the shock absorber is prevented from twisting, keeping the wheelbase and track width of the wheel assembly unchanged, thereby preventing lateral movement. The shock absorber assembly not only realizes shock absorption, but also acts as a single-sided support with the steering assembly, further preventing lateral slippage of the wheel assembly and ensuring that it operates according to the set kinematic model, resulting in high safety. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the steering system provided by this utility model.

[0018] Figure 2 This is a front view of the tireless steering system provided by this utility model.

[0019] Figure 3 This is a left view of the steering system provided by this utility model.

[0020] Figure 4 This is a front view of the steering system provided by this utility model.

[0021] Figure 5 This is a cross-sectional schematic diagram of the wheel assembly provided by this utility model.

[0022] Figure label: 100. Wheelset assembly; 110. Tire; 120. Slewing bearing; 130. Housing; 140. Drive motor; 150. Second reducer; 200. Steering assembly; 210. Rotary platform; 220. Steering motor; 230. First reducer; 300, shock absorber assembly; 310, shock absorber; 320, axial fastener; 330, radial fastener; 331, first limiting part; 332, second limiting part. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0024] In the description of the embodiments of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this utility model based on the specific circumstances.

[0025] In the description of the embodiments of this utility model, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this utility model and 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 the embodiments of this utility model.

[0026] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0027] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this utility model, and should not be construed as limiting this utility model.

[0028] The following disclosure provides numerous different embodiments or examples for implementing various structures of the present invention. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the scope of the invention. Furthermore, reference numerals and / or letters may be repeated in different examples. Such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. In addition, examples of various specific processes and materials are provided in this invention; however, those skilled in the art will recognize the applicability of other processes and / or the use of other materials.

[0029] The following is combined with Figures 1-5 This invention describes the steering system and chassis of the present invention.

[0030] The steering system provided in this embodiment of the present invention includes: a wheel assembly 100, a steering assembly 200, and a plurality of shock-absorbing assemblies 300. The steering assembly 200 includes a rotating platform 210 and a steering motor 220, the steering motor 220 being mounted on the top surface of the rotating platform 210. The plurality of shock-absorbing assemblies 300 are spaced apart along the forward direction of the wheel assembly. Each shock-absorbing assembly 300 includes a shock absorber 310 and a radial fixing member 330. The top of the shock absorber 310 is vertically connected to the rotating platform 210, and the bottom of the shock absorber 310 is connected to the wheel assembly 100. The radial fixing member 330 is disposed on the bottom surface of the rotating platform 210 and is located on the outer periphery of the shock absorber 310.

[0031] refer to Figure 1 and Figure 2 The steering motor 220 is mounted above the rotating platform 210, and the shock absorber 300 is mounted below the rotating platform 210. The top of the shock absorber 300 is vertically connected to the rotating platform 210, and the bottom of the shock absorber 300 is connected to the wheel assembly 100. When the steering motor 220 receives a control signal, it drives the rotating platform 210 to rotate the shock absorber 300 and the wheel assembly 100 by a corresponding angle, thereby causing the wheel assembly 100 to rotate to a specified angle in place. It should be noted that the shock absorber 300's damping direction is perpendicular to the ground. When the tire 110 is subjected to pressure or directional support force from the ground, the shock absorber 300 achieves shock absorption.

[0032] In some embodiments of this utility model, there are multiple shock-absorbing components 300, such as two, three, or five. These multiple shock-absorbing components 300 are spaced apart along the forward direction of the wheel assembly 100. Figure 1 and Figure 3 As shown, there are two shock absorber components 300, which not only serve as a buffer but also act as a support frame, ensuring stability during driving.

[0033] The shock-absorbing component in this embodiment of the invention significantly enhances the stability of the wheel assembly 100 on uneven ground, protects internal precision components, and ensures that the wheel assembly 100 does not slip laterally, enabling the construction of a chassis kinematic model; it improves the stability of the platform using the wheel assembly on uneven ground, reduces the damage of vibration to precision components, and extends the service life of the equipment.

[0034] Specifically, the shock absorption assembly 300 includes a shock absorber 310 and a radial fixing member 330. The top of the shock absorber 310 is vertically connected to the rotating platform 210, and the bottom of the shock absorber 310 is connected to the wheel assembly 100. The radial fixing member 330 is located on the outer periphery of the shock absorber 310, restricting the radial movement of the shock absorber 310, i.e., preventing the shock absorber 310 from twisting, keeping the wheelbase and track of the wheel assembly 100 constant, and avoiding lateral slippage of the wheel assembly 100. This ensures the kinematic model of the chassis and adapts to scenarios requiring high navigation accuracy.

[0035] In some embodiments of this utility model, the radial fixing member 330 has a receiving space, and the shock absorber 310 is located within the receiving space to prevent radial or lateral movement. In one embodiment, the radial fixing member 330 has through holes on both opposite sides, and the abutting member passes through the through holes and abuts against the outer wall surface of the shock absorber 310, thereby restricting the shock absorber 310. Optionally, the through holes can be threaded holes, with external threads corresponding to the abutting member. The through holes can also be smooth holes, and when the abutting member abuts against the shock absorber 310, the end of the abutting member away from the shock absorber 310 can be connected to the radial fixing member 330 through a fixing member. Optionally, the outer wall surface of the radial fixing member 330 and the fixing member each have a snap-fit ​​portion and a limiting portion, which are matched and connected to achieve fixation.

[0036] The steering system provided in this embodiment of the utility model, by mounting the steering motor 220 on the top surface of the rotating platform 210, and vertically setting the shock absorber 300 between the rotating platform 210 and the wheel assembly 100, allows the steering motor 220 to drive the rotating platform 210 to rotate, thereby enabling the wheel assembly 100 to independently drive and turn in place, resulting in high flexibility and strong stability. By arranging multiple shock absorbers 300 at intervals along the forward direction of the wheel assembly 100, a support frame can be provided to ensure stability during driving. By setting radial fixing members 330 on the bottom surface of the rotating platform 210, located on the outer periphery of the shock absorber 310, the shock absorber 310 is prevented from twisting, keeping the wheelbase and track width of the wheel assembly 100 unchanged, thereby preventing lateral movement. The shock absorber 300 not only provides shock absorption but also acts as a single-sided support with the steering assembly 200, further preventing lateral slippage of the wheel assembly 100 and ensuring its operation according to the set kinematic model, resulting in high safety.

[0037] In some embodiments of the present invention, the radial fixing member 330 includes a first limiting part 331 and a second limiting part 332, which together form a limiting space for accommodating the shock absorber 310.

[0038] Specifically, the first limiting part 331 has a first limiting groove on the side near the second limiting part 332, and the second limiting part 332 has a second limiting groove on the side near the first limiting part 331. The first limiting groove and the second limiting groove enclose a limiting space for accommodating the shock absorber 310. The shock absorber 310 includes at least an optical axis. In one embodiment, the optical axis located within the limiting space has a platform to prevent the optical axis from rotating within the limiting space, thus ensuring good stability.

[0039] In actual installation, one of the first limiting part 331 and the second limiting part 332 is fixed to the bottom surface of the rotating platform 210, which can be secured with screws. The top of the shock absorber 310 is connected to the rotating platform 210, and then the second limiting part 332 is connected to the first limiting part 331, thereby fixing the shock absorber 310 within the limiting space enclosed by the first limiting part 331 and the second limiting part 332. It should be noted that the first limiting part 331 and the second limiting part 332 can be fixed with fasteners, such as screws or snap-fit ​​fasteners, as long as the connection between the two is achieved.

[0040] In some embodiments of this utility model, a shaped groove is provided within the limiting space, and a shaped portion is provided on the outer wall surface of the shock absorber 310, which is embedded in the shaped groove. Specifically, the shaped groove can be provided within the first limiting portion 331 or the second limiting portion 332. The shaped portion matches the shaped groove. During installation, the shaped portion is embedded in the shaped groove, which can prevent the shock absorber 310 from rotating, thereby limiting radial displacement and ensuring good stability. In addition, the shaped groove can also limit the vertical movement of the shock absorber 310, thereby limiting axial displacement.

[0041] In some embodiments of this utility model, the shock absorber assembly 300 further includes an axial fixing member 320, the rotating platform 210 is provided with a through hole, the shock absorber 310 passes through the through hole, and the axial fixing member 320 is connected to the top of the shock absorber 310 to limit the axial displacement of the shock absorber 310.

[0042] In one embodiment, the axial fixing member 320 has a groove on the side near the rotating platform 210, with the opening facing the rotating platform 210. The top of the shock absorber 310 is inserted into the groove, and the axial fixing member 320 is connected to the rotating platform 210, such as by screws, thereby preventing the shock absorber 310 from moving axially.

[0043] In another embodiment, the axial fixing member 320 is a nut, and the top of the shock absorber 310 has a threaded section that passes through a through hole and is threadedly connected to the nut, thereby preventing the shock absorber 310 from moving downward in a direction perpendicular to the rotating platform 210. Alternatively, two nuts can be fixed to the top surface of the rotating platform 210 to prevent it from moving upward. It is understood that the radial fixing member 330 can also prevent the shock absorber 310 from moving upward in a direction perpendicular to the rotating platform 210.

[0044] In some embodiments of this utility model, the steering assembly 200 further includes a first reducer 230, the output end of the steering motor 220 is connected to the input end of the first reducer 230, and the output end of the first reducer 230 is fixedly connected to the top surface of the rotating platform 210. For example... Figure 1 and Figure 4 As shown, the first reducer 230 is fixed to the rotating platform 210 via a flange. After receiving a steering signal, the steering motor 220 rotates to the corresponding angle according to the steering signal. The first reducer 230 transmits the rotation to the rotating platform 210, which then drives the shock absorber 300 and the wheel assembly 100 to turn, thereby causing the entire wheel assembly 100 to rotate to a designated position in place. In this embodiment of the invention, the steering component 200 can independently turn, enabling the wheel assembly 100 to turn in place and move straight, allowing the wheel assembly 100 to adapt to various complex environments and greatly improving its flexibility.

[0045] In some embodiments of this utility model, the wheel assembly 100 includes a tire 110, a slewing bearing 120, and a housing 130. For example... Figure 4 and Figure 5 As shown, the bottom of the shock absorber assembly 300 is connected to the housing 130, and both ends of the slewing bearing 120 are fixedly connected to the tire 110 and the housing 130, respectively. The slewing bearing 120 is perpendicular to the shock absorber assembly 300. During the turning process, the drive motor 140 receives a signal and rotates to the corresponding angle. The first reducer 230 transmits the rotation to the rotating platform 210, which then drives the shock absorber 310, housing 130, slewing bearing 120, and tire 110 to rotate, thereby enabling the tire 110 to rotate in place to the specified angle.

[0046] In some embodiments of this invention, the wheel assembly 100 further includes a drive motor 140, which is housed within the housing 130. The output end of the drive motor 140 is connected to the tire 110 to drive the tire 110 to rotate, thereby achieving movement. This invention uses the drive motor 140 to directly drive the tire 110 to rotate, reducing energy loss.

[0047] In some embodiments of this utility model, the wheel assembly 100 further includes a second reducer 150. The output end of the drive motor 140 is connected to the input end of the second reducer 150, and the output end of the second reducer 150 is connected to the tire 110. During the driving process, after the drive motor 140 starts, it transmits power to the second reducer 150. The drive motor 140 drives the second reducer 150, which then transmits power to the tire 110, thereby realizing the rotation of the tire 110. In one embodiment, the tire 110 is provided with a flange, and the second reducer 150 can be connected to the flange. The slewing bearing 120 can also be connected to the flange.

[0048] During driving or turning, the chassis achieves smooth driving through the shock absorption assembly 300. When the tire 110 is subjected to radial pressure, the pressure is transmitted to the slewing bearing 120, which then transmits the force to the housing 130, and finally to the shock absorption assembly 300. The shock absorption assembly 300 achieves force balance, thereby ensuring smooth operation.

[0049] The steering system in this embodiment adopts a modular design, independent of other structures on the vehicle chassis, and functions as a single unit, facilitating disassembly, assembly, and maintenance, thus improving system flexibility. Both the drive motor 140 and the steering motor 220 can precisely control their speeds through the driver to monitor and adjust the steering system's operating status, improving operational accuracy and flexibility, enhancing energy efficiency, and increasing range.

[0050] In this embodiment of the invention, the steering assembly 200 and the wheel assembly 100 are set independently, and corresponding control algorithms can be written for the steering assembly 200 and the wheel assembly 100 respectively, so as to achieve high-precision motion control, improve execution efficiency, reduce failure rate, and reduce the control difficulty of the chassis.

[0051] This novel embodiment also provides a chassis including multiple steering systems as described in any of the above embodiments, and a base plate, with the multiple steering systems fixed at different positions on the base plate. In one embodiment, four steering systems are fixed on the base plate, and the four steering systems are arranged symmetrically in pairs.

[0052] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and not to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model.

Claims

1. A steering system, characterized in that, include: Wheelset assembly; A steering assembly includes a rotary platform and a steering motor, the steering motor being mounted on the top surface of the rotary platform; Multiple shock-absorbing components are provided, spaced apart along the forward direction of the wheel assembly. Each shock-absorbing component includes a shock absorber and a radial fixing member. The top of the shock absorber is vertically connected to the rotating platform, and the bottom of the shock absorber is connected to the wheel assembly. The radial fixing member is located on the bottom surface of the rotating platform and is situated on the outer periphery of the shock absorber.

2. The steering system according to claim 1, characterized in that, The radial fixing member includes a first limiting part and a second limiting part, which together form a limiting space for accommodating the shock absorber.

3. The steering system according to claim 2, characterized in that, The limiting space is provided with an irregular groove, and the outer wall of the shock absorber is provided with an irregular part, which is embedded in the irregular groove.

4. The steering system according to claim 1, characterized in that, The damping assembly also includes an axial fixing member. The rotating platform has a through hole, through which the damper passes. The axial fixing member is connected to the top of the damper to limit the axial displacement of the damper.

5. The steering system according to claim 4, characterized in that, The axial fixing component includes a nut, and the top of the shock absorber is provided with a threaded section, which passes through the through hole and is threadedly connected to the nut.

6. The steering system according to claim 1, characterized in that, The steering assembly also includes a first reducer, the output end of the steering motor is connected to the input end of the first reducer, and the output end of the first reducer is fixedly connected to the top surface of the rotating platform.

7. The steering system according to claim 1, characterized in that, The wheel assembly includes a tire, a slewing bearing, and a housing. The bottom of the shock-absorbing assembly is connected to the housing. Both ends of the slewing bearing are fixedly connected to the tire and the housing, respectively. The slewing bearing is perpendicular to the shock-absorbing assembly.

8. The steering system according to claim 7, characterized in that, The wheel assembly includes a drive motor, which is housed within the housing, and the output of the drive motor is connected to the tire.

9. The steering system according to claim 8, characterized in that, The wheel assembly also includes a second reducer, the output end of the drive motor is connected to the input end of the second reducer, and the output end of the second reducer is connected to the tire.

10. A chassis, characterized in that, It includes a plurality of steering systems as described in any one of claims 1 to 9, and also includes a base plate, wherein the plurality of steering systems are fixed at different positions on the base plate.

Images