CN214492534U - Four-wheel drive differential wheel type mobile chassis - Google Patents
Four-wheel drive differential wheel type mobile chassis Download PDFInfo
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- CN214492534U CN214492534U CN202120643233.9U CN202120643233U CN214492534U CN 214492534 U CN214492534 U CN 214492534U CN 202120643233 U CN202120643233 U CN 202120643233U CN 214492534 U CN214492534 U CN 214492534U
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Abstract
The utility model discloses a wheeled removal chassis of four-wheel drive differential, including frame, first speed reducer, second speed reducer and drive gear, still include first speed reducer and pinion, frame front end both sides are equipped with first front drive wheel and second front drive wheel respectively, frame rear end both sides are equipped with drive wheel behind first back drive wheel and the second respectively, the drive axostylus axostyle is all installed through the key pin in the axle center of drive wheel behind first front drive wheel, second front drive wheel, first back drive wheel and the second, install driven gear through the key pin on the drive axostylus axostyle, frame bottom just is located first front drive wheel, second front drive wheel, first back drive wheel and second back drive wheel one side respectively and installs primary shaft bearing and secondary shaft bearing through the bolt. The design of four groups of driving wheels adopted by the invention can not cause the situation that the chassis can not move even if a pair of front driving wheels or a pair of rear driving wheels are lifted by an obstacle and suspended.
Description
Technical Field
The utility model relates to a remove chassis technical field, in particular to wheeled removal chassis of four-wheel drive differential.
Background
With the development of robots and automation technologies, the application of mobile chassis is becoming more and more extensive, and mobile chassis with various driving modes appear, including crawler-type, omnidirectional wheel-type, mecanum wheel-type and common rubber wheel-type chassis. The track, the omni wheels and the Mecanum wheels are mainly used in some special industries due to high production cost and the like. The traditional rubber tire is generally applied due to the reasons of low production cost, strong load-carrying capacity and the like. Particularly, the four-wheel drive type mobile chassis has excellent performance in aspects of obstacle crossing, load carrying, control, flexibility and the like, can adapt to conditions of complex road surfaces and the like, and is widely applied.
Because the moving chassis used by the modern robot system has very high requirements on the precision of position and speed control, and simultaneously needs to reduce the production cost as much as possible, the current moving chassis adopts a four-drive type, namely, an independent motor is adopted to respectively control each wheel, thereby realizing the moving functions of advancing, retreating, differential steering and the like. Compared with a two-drive type, even if 2 driving wheels are suspended due to road surface obstacles or pits, the other two driving wheels can provide power to cross the obstacles.
The defects and shortcomings of the prior art are as follows:
at present, the four-drive type movable chassis needs to be precisely controlled and needs to be driven by 4 independent motors, the cost is greatly improved relative to the production cost of a non-precise control chassis, the required internal space is large, and the difficulty in miniaturization of equipment is increased. Therefore, a four-wheel drive differential wheel type moving chassis is provided.
SUMMERY OF THE UTILITY MODEL
The utility model discloses a main aim at provides a wheeled removal chassis of four-wheel drive differential can effectively solve the problem in the background art.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
the utility model provides a wheeled removal chassis of four-wheel drive differential, includes frame, first speed reducer, second speed reducer and drive gear, still includes first speed reducer and pinion, frame front end both sides are equipped with first front drive wheel and second front drive wheel respectively, frame rear end both sides are equipped with drive wheel behind first back drive wheel and the second respectively, the drive axostylus axostyle is all installed through the key pin in the axle center of drive wheel behind first front drive wheel, the front drive wheel of second, first back drive wheel and the second, install driven gear through the key pin on the drive axostylus axostyle, frame bottom just is located first front drive wheel, the front drive wheel of second, first back drive wheel and second back drive wheel one side respectively and installs primary shaft bearing and secondary shaft bearing through the bolt.
Furthermore, the driving shaft rods of the first front driving wheel, the second front driving wheel, the first rear driving wheel and the second rear driving wheel respectively penetrate through the first bearing seat and the second bearing seat at corresponding positions, the driving shaft rods are respectively connected with the inner shaft sleeves of the first bearing seat and the second bearing seat through bolts in an installing mode, and the driven gear of the driving shaft rod is located between the first bearing seat and the second bearing seat.
Furthermore, a first support frame and a second support frame are respectively arranged at two sides of the bottom of the frame, an optical axis is rotatably arranged between the first support frame and the second support frame through a bearing, the optical axis is provided with a pinion corresponding to the driven gear through a key pin, the tops of the two ends of the driving shaft rod and the top of the optical axis are respectively provided with a key groove corresponding to the key pin, key grooves corresponding to the key pins are formed in the inner walls of the first front driving wheel, the second front driving wheel, the first rear driving wheel, the second rear driving wheel, the driven gear and the auxiliary gear, the key grooves of the first front driving wheel, the second front driving wheel, the first rear driving wheel, the second rear driving wheel, the driven gear and the pinion are fixedly clamped and connected with the corresponding key grooves of the driving shaft rod and the optical axis through key pins, and shaft clamps are clamped at the end parts of the corresponding driving shaft rods on one sides of the first front driving wheel, the second front driving wheel, the first rear driving wheel and the second rear driving wheel.
Further, frame bottom both ends are equipped with first servo motor and second servo motor respectively, first servo motor and second servo motor periphery are installed the motor frame through the bolt, the motor frame respectively with frame bottom bolted connection, first servo motor and second servo motor's drive end all is equipped with corresponding first speed reducer and second speed reducer, the drive end of first speed reducer and second speed reducer is respectively through key round pin (23) fixed mounting have drive gear.
Furthermore, the driving gear of the first speed reducer is sequentially connected with the pinion at the corresponding position, the driven gear of the first front driving wheel and the driven gear of the first rear driving wheel through a first chain, and the driving gear of the second speed reducer is sequentially connected with the pinion at the corresponding position, the driven gear of the second front driving wheel and the driven gear of the second rear driving wheel through a second chain.
Compared with the prior art, the utility model discloses following beneficial effect has:
1. compared with the traditional movable chassis with a motor driving a driving wheel, the chassis driven by the servo motor can greatly reduce the size of the chassis under the condition of the same power and torque; meanwhile, the motor and the speed reducer account for a large proportion of the equipment cost, and the production cost of the equipment can be greatly reduced by adopting a motor-assembling driving mode.
2. According to the invention, the design of four groups of driving wheels is adopted, even if a pair of front driving wheels or a pair of rear driving wheels are lifted and suspended by an obstacle, the situation that the chassis cannot move can not occur, so that the obstacle crossing capability of the equipment is improved, the phenomenon that the chassis cannot continue to move when the driving wheels of the obstacle are lifted and suspended in the moving process and the chassis cannot move continuously when the driving wheels of the obstacle are lifted and suspended in the moving process is effectively avoided.
Drawings
Fig. 1 is a schematic top view of the four-wheel drive differential wheel type mobile chassis of the present invention.
Fig. 2 is a schematic side view of the four-wheel drive differential wheel type mobile chassis of the present invention.
Fig. 3 is a schematic view of the bottom view structure of the four-wheel drive differential wheel type mobile chassis of the present invention.
Fig. 4 is a schematic bottom view of the four-wheel drive differential wheel type mobile chassis of the present invention.
Fig. 5 is an enlarged schematic view of the four-wheel drive differential wheel type mobile chassis of the present invention at fig. 4A.
Fig. 6 is a schematic structural view of a driving shaft of a four-wheel drive differential wheel type mobile chassis according to the present invention.
Fig. 7 is an enlarged schematic view of the four-wheel drive differential wheel type mobile chassis of the present invention at the position of fig. 1B.
In the figure: 1. a frame; 2. a first front drive wheel; 3. a second front drive wheel; 4. a first rear drive wheel; 5. a second rear drive wheel; 6. a first bearing housing; 7. a second bearing housing; 8. a drive shaft; 9. a driven gear; 10. a first support frame; 11. a second support frame; 12. an optical axis; 13. a first servo motor; 14. a first speed reducer; 15. a second servo motor; 16. a second speed reducer; 17. a drive gear; 18. a motor frame; 19. a pinion gear; 20. a first chain; 21. a second chain; 22. a keyway; 23. a key pin; 24. and (4) shaft clamping.
Detailed Description
In order to make the technical means, creation features, achievement purposes and functions of the present invention easy to understand, the present invention is further described below with reference to the following embodiments.
As shown in fig. 1-7, a four-wheel drive differential wheel type mobile chassis comprises a frame 1, a first speed reducer 14, a second speed reducer 16, a driving gear 17, a first speed reducer 14 and a pinion 19, a first front driving wheel 2 and a second front driving wheel 3 are respectively arranged on two sides of the front end of the frame 1, a first rear driving wheel 4 and a second rear driving wheel 5 are respectively arranged on two sides of the rear end of the frame 1, the axes of the first front driving wheel 2, the second front driving wheel 3, the first rear driving wheel 4 and the second rear driving wheel 5 are all provided with a driving shaft lever 8 through a key pin 23, the driving shaft lever 8 is provided with a driven gear 9 through a key pin 23, and the bottom of the frame 1 is respectively provided with a first bearing seat 6 and a second bearing seat 7 through bolts at one side of the first front driving wheel 2, the second front driving wheel 3, the first rear driving wheel 4 and the second rear driving wheel 5.
The driving shaft rods 8 of the first front driving wheel 2, the second front driving wheel 3, the first rear driving wheel 4 and the second rear driving wheel 5 are respectively arranged in a first bearing seat 6 and a second bearing seat 7 which are arranged in corresponding positions in a penetrating manner, the driving shaft rods 8 are respectively connected with inner shaft sleeves of the first bearing seat 6 and the second bearing seat 7 in an installing manner through bolts, and a driven gear 9 of the driving shaft rods 8 is positioned between the first bearing seat 6 and the second bearing seat 7; the first bearing housing 6 and the second bearing housing 7 serve for the rotational support of a drive shaft 8 of a drive wheel.
Wherein, a first support frame 10 and a second support frame 11 are respectively arranged at two sides of the bottom of the frame 1, an optical axis 12 is rotatably arranged between the first support frame 10 and the second support frame 11 through a bearing, an auxiliary gear 19 corresponding to the driven gear 9 is arranged on the optical axis 12 through a key pin 23, key slots 22 corresponding to the key pin 23 are respectively arranged at the top of two ends of the driving shaft lever 8 and the top of the optical axis 12, key slots 22 corresponding to the key pin 23 are respectively arranged on the inner walls of the first front driving wheel 2, the second front driving wheel 3, the first rear driving wheel 4, the second rear driving wheel 5, the driven gear 9 and the auxiliary gear 19, the key slots 22 of the first front driving wheel 2, the second front driving wheel 3, the first rear driving wheel 4, the second rear driving wheel 5, the driven gear 9 and the auxiliary gear 19 are fixedly clamped and connected with the key slots 22 of the driving shaft lever 8 and the optical axis 12 through the key pin 23, shaft clamps 24 are clamped at the end parts of the corresponding driving shaft rods 8 at one sides of the first front driving wheel 2, the second front driving wheel 3, the first rear driving wheel 4 and the second rear driving wheel 5; the pinion 19 is used to press the chain.
The frame comprises a frame 1 and is characterized in that a first servo motor 13 and a second servo motor 15 are respectively arranged at two ends of the bottom of the frame 1, motor frames 18 are installed on the peripheries of the first servo motor 13 and the second servo motor 15 through bolts, the motor frames 18 are respectively connected with bolts at the bottom of the frame 1 in an installing mode, driving ends of the first servo motor 13 and the second servo motor 15 are respectively provided with a corresponding first speed reducer 14 and a corresponding second speed reducer 16, and driving ends of the first speed reducer 14 and the second speed reducer 16 are respectively fixedly provided with a driving gear 17 through key pins (23).
Wherein, the driving gear 17 of the first speed reducer 14 is sequentially connected with the pinion 19, the first front driving wheel 2 and the driven gear 9 of the first rear driving wheel 4 at corresponding positions through a first chain 20, and the driving gear 17 of the second speed reducer 16 is sequentially connected with the pinion 19, the second front driving wheel 3 and the driven gear 9 of the second rear driving wheel 5 at corresponding positions through a second chain 21; the servo motor is provided with a speed reducer for improving output torque.
It should be noted that the utility model relates to a four-wheel drive differential wheel type mobile chassis, when in operation, the first servo motor 13 and the second servo motor 15 drive the corresponding first speed reducer 14 and the second speed reducer 16, so that the driving gear 17 on the driving shaft of the first speed reducer 14 and the second speed reducer 16 respectively drives the corresponding first chain 20 and the second chain 21 for transmission, thereby rotating the first front driving wheel 2, the driven gear 9 of the first rear driving wheel 4, the second front driving wheel 3 and the driven gear 9 of the second rear driving wheel 5, so that the four groups of driving wheels realize rotation, when the first servo motor 13 and the second servo motor 15 rotate, the first chain 20 and the second chain 21 synchronously drive the two driving wheels on the corresponding sides to rotate, when the first servo motor 13 and the second servo motor 15 rotate in the same direction and at the same rotating speed, the whole chassis moves forwards and backwards; when the first servo motor 13 and the second servo motor 15 rotate in different directions and rotating speeds respectively, the whole chassis realizes differential steering, so that the chassis can be driven to move at different linear speeds and angular speeds by adjusting the rotating directions and the rotating speeds of the two servo motors.
The basic principles and the main features of the invention and the advantages of the invention have been shown and described above. It will be understood by those skilled in the art that the present invention is not limited to the above embodiments, and that the foregoing embodiments and descriptions are provided only to illustrate the principles of the present invention without departing from the spirit and scope of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (5)
1. The utility model provides a wheeled removal chassis of four-wheel drive differential, includes frame (1), first speed reducer (14), second speed reducer (16) and drive gear (17), its characterized in that still includes key round pin (23), first speed reducer (14) and pinion (19), frame (1) front end both sides are equipped with first front driving wheel (2) and second front driving wheel (3) respectively, frame (1) rear end both sides are equipped with first rear drive wheel (4) and second rear drive wheel (5) respectively, the axle center of first front driving wheel (2), second front driving wheel (3), first rear drive wheel (4) and second rear drive wheel (5) all installs drive axostylus axostyle (8) through key round pin (23), install driven gear (9) through key round pin (23) on drive axostylus axostyle (8), frame (1) bottom just is located first front driving wheel (2) respectively, A first bearing seat (6) and a second bearing seat (7) are mounted on one side of the second front driving wheel (3), the first rear driving wheel (4) and the second rear driving wheel (5) through bolts.
2. The four-wheel drive differential wheel type mobile chassis of claim 1, wherein: the driving shaft rods (8) of the first front driving wheel (2), the second front driving wheel (3), the first rear driving wheel (4) and the second rear driving wheel (5) are respectively arranged in the first bearing seat (6) and the second bearing seat (7) in a penetrating mode, the driving shaft rods (8) are respectively connected with the inner shaft sleeves of the first bearing seat (6) and the second bearing seat (7) through bolts in an installing mode, and the driven gear (9) of the driving shaft rods (8) is located between the first bearing seat (6) and the second bearing seat (7).
3. The four-wheel drive differential wheel type mobile chassis of claim 1, wherein: first support frame (10) and second support frame (11) are installed respectively to frame (1) bottom both sides, rotate through the bearing between first support frame (10) and second support frame (11) and install optical axis (12), pinion (19) that driven gear (9) correspond are installed through dowel pin (23) on optical axis (12), keyway (22) that correspond with dowel pin (23) are seted up respectively at drive axostylus axostyle (8) both ends top and optical axis (12) top, keyway (22) that correspond with dowel pin (23) are all seted up to first front drive wheel (2), second front drive wheel (3), first rear drive wheel (4), second rear drive wheel (5), driven gear (9) and pinion (19) inner wall, keyway (22) that correspond with dowel pin (23), first front drive wheel (2), second front drive wheel (3), first rear drive wheel (4), second rear drive wheel (5), The driven gear (9) and the key groove (22) of the pinion (19) are fixedly clamped and connected with the corresponding driving shaft lever (8) and the key groove (22) of the optical axis (12) through a key pin (23), and shaft clamps (24) are clamped at the end parts, located on one sides of the corresponding driving shaft lever (8), of the first front driving wheel (2), the second front driving wheel (3), the first rear driving wheel (4) and the second rear driving wheel (5).
4. The four-wheel drive differential wheel type mobile chassis of claim 1, wherein: frame (1) bottom both ends are equipped with first servo motor (13) and second servo motor (15) respectively, motor frame (18) are installed through the bolt to first servo motor (13) and second servo motor (15) periphery, motor frame (18) respectively with frame (1) bottom bolt erection joint, the drive end of first servo motor (13) and second servo motor (15) all is equipped with corresponding first speed reducer (14) and second speed reducer (16), the drive end of first speed reducer (14) and second speed reducer (16) has drive gear (17) through key round pin (23) fixed mounting respectively.
5. The four-wheel drive differential wheel type mobile chassis of claim 1, wherein: the driving gear (17) of the first speed reducer (14) is sequentially connected with the pinion (19) corresponding to the position, the driven gear (9) of the first front driving wheel (2) and the first rear driving wheel (4) through a first chain (20), and the driving gear (17) of the second speed reducer (16) is sequentially connected with the pinion (19) corresponding to the position, the second front driving wheel (3) and the driven gear (9) of the second rear driving wheel (5) through a second chain (21).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120643233.9U CN214492534U (en) | 2021-03-30 | 2021-03-30 | Four-wheel drive differential wheel type mobile chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120643233.9U CN214492534U (en) | 2021-03-30 | 2021-03-30 | Four-wheel drive differential wheel type mobile chassis |
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| Publication Number | Publication Date |
|---|---|
| CN214492534U true CN214492534U (en) | 2021-10-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120643233.9U Active CN214492534U (en) | 2021-03-30 | 2021-03-30 | Four-wheel drive differential wheel type mobile chassis |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114704712A (en) * | 2022-04-15 | 2022-07-05 | 哈工大机器人（合肥）国际创新研究院 | Multi-drive shafting water detection robot |
-
2021
- 2021-03-30 CN CN202120643233.9U patent/CN214492534U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114704712A (en) * | 2022-04-15 | 2022-07-05 | 哈工大机器人（合肥）国际创新研究院 | Multi-drive shafting water detection robot |
| CN114704712B (en) * | 2022-04-15 | 2023-06-13 | 哈工大机器人（合肥）国际创新研究院 | Multi-drive-shaft lacing water detection robot |
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