An adaptive free standing chassis structure

Abstract

The utility model relates to all terrain vehicle field, specifically disclose a kind of self-adapting free chassis structure, including central box, drive axle, balance frame structure, damping structure and tire, swivel bearing two ends are respectively fixedly connected with central box and drive axle, damping structure includes support seat, two damping supports, two damping support connecting frames, two damping support connecting frames are symmetrically installed in two drive axle front end, support seat is installed in central box front end intermediate position, damping support two ends are respectively connected with damping support connection and support seat connection, by being provided with drive axle in central box both sides, and by swivel bearing connection, when there is an obstacle on one side, it can only rotate one side drive axle, the purpose of passing through obstacle is realized in the case where middle box does not move, also by being provided with damper and being connected with left and right sides drive axle, make two sides drive axle rotate mutually, so that one side drive axle passes through obstacle, the rotating direction of the other side drive axle is opposite, form triangle structure, keep balance, so that central box can not appear to one side inclination problem occurs.

Description

Technical Field

[0001] This utility model relates to the field of all-terrain vehicles, specifically to an adaptive free chassis structure. Background Technology

[0002] All-terrain robots, as the name suggests, are lightweight, open-type robots designed to travel on various complex terrains. Existing all-terrain robots are mainly wheeled and tracked, and different vehicle types need to be selected for different working terrains.

[0003] Wheeled robots are suitable for flat, hard surfaces and have advantages such as simple structure, high speed, simple control, high maneuverability and low energy consumption. However, they are not suitable for crossing ditches or muddy roads, and have poor obstacle-crossing ability and passability.

[0004] Tracked robots are suitable for soft ground with complex terrain. Compared with wheeled robots, they have a stronger ability to adapt to terrain and have a higher ability to overcome obstacles and a better environmental adaptability in complex environments. However, due to the large frictional resistance, they consume a lot of energy and have a low driving speed.

[0005] When the road surface is rough or there are obstacles, both wheeled and tracked robots have a problem: although all-terrain vehicles can pass safely, the robot will tilt left, right, forward and backward, causing the cargo loaded on the robot to shake violently and easily causing the cargo to fall off. Therefore, an all-terrain vehicle is needed to solve this problem. Utility Model Content

[0006] This utility model aims to solve the technical problems mentioned in the background section and proposes the following technical solutions: An adaptive free-floating chassis structure includes a central housing, a drive axle, a damping structure, and tires. A drive structure is housed inside the central housing. Slewing bearings are symmetrically arranged on the left and right sides of the central housing. The two ends of each slewing bearing are fixedly connected to the central housing and the drive axle, respectively. The drive structure is connected to a drive shaft, one end of which passes through the slewing bearing and is rotatably connected to the drive axle. A transmission structure is housed within the drive axle, and the drive shaft is connected to the transmission structure. The transmission structure is connected to the tires.

[0007] The damping structure includes a support base, two damping brackets, and two damping bracket connecting frames. The two damping bracket connecting frames are symmetrically installed at the front ends of the two drive axles. The support base is installed at the middle position of the front end of the central housing. A bushing is fitted on the support base, and a fixing pin is provided on the bushing. One end of the damping bracket is fitted on the fixing pin and rotatably connected to the fixing pin. The other end of the damping bracket is fitted on the damping bracket connecting frame and rotatably connected to the damping bracket connecting frame. A damping block is provided in the gap between the support base and the bushing.

[0008] Preferably, the driving structure includes, but is not limited to, a drive motor.

[0009] Preferably, the transmission structure is a gear structure, including a drive gear and two transmission gears, wherein the drive gear is connected to the drive shaft and the transmission gears are connected to the tire.

[0010] Preferably, the other end of the damping bracket is connected to a spherical bearing, and the spherical bearing is sleeved on the damping bracket connecting frame.

[0011] Preferably, the damping bracket is divided into a front bracket and a rear bracket. The front bracket is connected to the damping bracket connecting frame, and the rear bracket is connected to the fixing pin. The front bracket and the rear bracket are connected by a pin shaft.

[0012] The beneficial effects of this utility model are: 1. By setting drive axles on both sides of the central housing and connecting them with slewing bearings, when there is an obstacle on one side, only one drive axle can rotate while the central housing remains stationary, thus achieving the purpose of passing through the obstacle. Furthermore, by setting dampers to connect the drive axles on the left and right sides, the two drive axles can rotate relative to each other. When one drive axle passes through an obstacle, the other drive axle rotates in the opposite direction, forming a triangular structure to maintain balance and prevent the central housing from tilting to one side.

[0013] 2. The damping block installed in the gap between the support and the bushing can reduce vibration and also act as a damper, so that slight vibration or uneven ground will not cause the damping structure to rotate.

[0014] 3. By installing a spherical bearing between the damping bracket and the damping bracket connecting frame, a small-amplitude rotation can be achieved through the rotation of the spherical bearing. This allows one side of the drive axle to rotate at a small angle without rotating the bushing located on the support seat. 4. By dividing the damping bracket into a front bracket and a rear bracket connected by a fixing pin, when the damping bracket undergoes large-angle rotation or the drive axle and central housing change position, the rotation of the front and rear brackets replaces the bending deformation of a single bracket. This not only improves the shock absorption effect but also avoids permanent deformation of a single bracket, thereby extending the service life of the equipment. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of this utility model; Figure 2 for Figure 1 Enlarged view of the area circled in the middle; Figure 3 This is a cross-sectional view of the present invention; Figure 4 This is a schematic diagram of the slewing bearing structure in this utility model; Figure 5 Figure A shows the driving conditions of this utility model on uneven road surfaces; Figure 6 Figure B shows the driving conditions of this utility model on uneven road surfaces; In the diagram: 1. Central housing; 2. Drive axle; 4. Damping structure; 4-1. Support base; 4-2. Damping bracket; 4-21. Front bracket; 4-22. Rear bracket; 4-3. Damping bracket connecting frame; 4-4. Bushing; 4-5. Fixing pin; 4-6. Damping block; 5. Tire; 6. Drive structure; 6-1. Drive shaft; 7. Slewing bearing; 8. Transmission structure; 8-1. Drive gear; 8-2. Driven gear; 9. Spherical plain bearing. Detailed Implementation

[0016] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0017] In the description of this utility model, it should be understood that relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. The connection methods described by the terms "fixed connection" and "fixed setting" include, but are not limited to, "welding," "riveting," "adhesion," and "threaded connection." The terms "comprising," "including," or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. The terms “upper,” “lower,” “front,” “back,” “left,” “right,” “top,” “bottom,” “inner,” and “outer,” etc., 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 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 this utility model.

[0018] Example 1 Reference Figure 1-6 An adaptive free chassis structure includes a central housing 1, a drive axle 2, a damping structure 4, and tires 5. A drive structure 6 is installed inside the central housing 1. Slewing bearings 7 are symmetrically arranged on the left and right sides of the central housing 1. The two ends of the slewing bearings 7 are fixedly connected to the central housing 1 and the drive axle 2, respectively. The drive structure 6 is connected to a drive shaft 6-1. One end of the drive shaft 6-1 passes through the slewing bearing 7 and is rotatably connected to the drive axle 2. A transmission structure 8 is installed inside the drive axle 2. The drive shaft 6-1 is connected to the transmission structure 8. The transmission structure 8 is connected to the tires 5.

[0019] The damping structure 4 includes a support base 4-1, two damping brackets 4-2, and two damping bracket connecting frames 4-3. The two damping bracket connecting frames 4-3 are symmetrically installed at the front ends of the two drive axles 2. The support base 4-1 is installed at the middle of the front end of the central housing 1. A bushing 4-4 ​​is fitted on the support base 4-1, and a fixing pin 4-5 is provided on the bushing 4-4. One end of the damping bracket 4-2 is fitted onto the fixing pin 4-5 and rotatably connected to the fixing pin 4-5. The other end of the damping bracket 4-2 is fitted onto... A damping block 4-6 is rotatably connected to the damping bracket connecting frame 4-3 and the damping bracket connecting frame 4-3. A damping block 4-6 is installed in the gap between the support base 4-1 and the bushing 4-4. The connection between the front end of the support base 4-1 and the bushing 4-4 ​​is a square structure rotated by 45°. The bushing 4-4 ​​is a square structure, and the diagonal length of the support base 4-1 is equal to the side length of the bushing 4-4. The damping block 4-6 is located at the four corners of the bushing 4-4 ​​and is made of rubber.

[0020] In actual operation, such as Figure 1 The image shows the chassis structure when driving on a flat road surface, where both drive axles 2 are balanced. However, when driving on a road surface with a higher obstacle on the left, as shown... Figure 4As shown, the left front wheel will lift and contact the obstacle, while the left rear wheel will contact the road surface. At this time, the drive axle 2 will rotate. Because the drive axle 2 and the central housing 1 are connected by a slewing bearing, the central housing 1 will not rotate when the drive axle 2 rotates, thus ensuring the stability of the central housing 1. When the drive axle 2 rotates, the damping bracket 4-2 connected to it will also rotate. The damping bracket 4-2 will rotate around the support base 4-1. The right drive axle 2 will also rotate under the rotation of the damping bracket 4-2, but the direction of rotation is opposite to that of the left drive axle 2. This will result in the two tires on the right side having the front tire on the ground and the rear tire suspended in the air. This forms a triangular structure with the tire on the other side that is on an uneven road surface, which can improve the stability of the robot when passing through uneven roads. After the front wheels have passed an obstacle or a higher surface, when the rear wheels pass over it, such as Figure 5 As shown, at this time, the rear tires are raised and in contact with the obstacle, while the left front tires are in contact with the road surface. At this time, the drive axle 2 rotates in the opposite direction. Similarly, the damping structure 4 also rotates in the opposite direction, which makes the right tires become the rear wheels on the ground and the front wheels suspended in the air, forming a triangular structure to improve stability.

[0021] When the damping structure changes direction, the damping block 4-6 installed in the gap between the support 4-1 and the bushing 4-4 ​​can reduce the vibration and also play a damping role, so that the damping structure will not rotate due to slight vibration or uneven ground.

[0022] Example 2 Reference Figure 3 The transmission structure 8 is a gear structure, including a drive gear 8-1 and two transmission gears 8-2. The drive gear 8-1 is connected to the drive shaft 6-1, and the transmission gears 8-2 are connected to the tire 5.

[0023] Example 3 Reference Figure 2 The other end of the damping bracket 4-2 is connected to the spherical bearing 9, which is sleeved on the damping bracket connecting frame 4-3. The spherical bearing 9 is set between the damping bracket 4-2 and the damping bracket connecting frame 4-3. A small-amplitude rotation can be achieved by rotating the spherical bearing 9, so that the drive axle 2 on one side can rotate at a small angle without rotating the bushing 4-4 ​​on the support seat 4-1.

[0024] Example 4 Reference Figure 2The damping bracket 4-2 is divided into a front bracket 4-21 and a rear bracket 4-22. The front bracket 4-21 is connected to the damping bracket connecting frame 4-3, and the rear bracket 4-22 is connected to the fixing pin 4-5. The front bracket 4-21 and the rear bracket 4-22 are connected by a pin shaft. By dividing the damping bracket 4-21 into a front bracket 4-22 and connecting it with the fixing pin 4-5, when the damping bracket 4-2 rotates at a large angle and the drive axle 2 and the central housing 1 change positions, the damping bracket 4-2 replaces the bending deformation of a single bracket by rotating the front bracket 4-21 and the rear bracket 4-22. This not only improves the shock absorption effect, but also avoids permanent deformation of a single bracket, thereby increasing the service life of the equipment.

Claims

1. An adaptive free-floating chassis structure, comprising a central housing (1), a drive axle (2), a damping structure (4), and tires (5), characterized in that, The central housing (1) is equipped with a drive structure (6). The left and right sides of the central housing (1) are respectively symmetrically equipped with rotary bearings (7). The two ends of the rotary bearings (7) are fixedly connected to the central housing (1) and the drive axle (2) respectively. The drive structure (6) is connected to the drive shaft (6-1). One end of the drive shaft (6-1) passes through the rotary bearing (7) and is rotatably connected to the drive axle (2). The drive axle (2) is equipped with a transmission structure (8). The drive shaft (6-1) is connected to the transmission structure (8). The transmission structure (8) is connected to the tire (5). The damping structure (4) includes a support base (4-1), two damping brackets (4-2), and two damping bracket connecting frames (4-3). The two damping bracket connecting frames (4-3) are symmetrically installed at the front ends of the two drive axles (2). The support base (4-1) is installed at the middle position of the front end of the central housing (1). A bushing (4-4) is fitted on the support base (4-1). A fixing pin (4-5) is provided on the bushing (4-4). One end of the damping bracket (4-2) is fitted on the fixing pin (4-5) and rotatably connected to the fixing pin (4-5). The other end of the damping bracket (4-2) is fitted on the damping bracket connecting frame (4-3) and rotatably connected to the damping bracket connecting frame (4-3). A damping block (4-6) is provided in the gap between the support base (4-1) and the bushing (4-4).

2. The adaptive free-floating chassis structure according to claim 1, characterized in that, The drive structure (6) includes, but is not limited to, a drive motor.

3. The adaptive free-floating chassis structure according to claim 1, characterized in that, The transmission structure (8) is a gear structure, including a drive gear (8-1) and two transmission gears (8-2). The drive gear (8-1) is connected to the drive shaft (6-1), and the transmission gears (8-2) are connected to the tire (5).

4. The adaptive free-floating chassis structure according to claim 1, characterized in that, The other end of the damping bracket (4-2) is connected to a spherical bearing (9), which is sleeved on the damping bracket connecting frame (4-3).

5. The adaptive free-floating chassis structure according to claim 1, characterized in that, The damping bracket (4-2) is divided into a front bracket (4-21) and a rear bracket (4-22). The front bracket (4-21) is connected to the damping bracket connecting frame (4-3), and the rear bracket (4-22) is connected to the fixing pin (4-5). The front bracket (4-21) and the rear bracket (4-22) are connected by a pin shaft.

Images