CN113459744A - Double-rocker independent suspension, steering and walking integrated assembly - Google Patents
Double-rocker independent suspension, steering and walking integrated assembly Download PDFInfo
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- CN113459744A CN113459744A CN202110931880.4A CN202110931880A CN113459744A CN 113459744 A CN113459744 A CN 113459744A CN 202110931880 A CN202110931880 A CN 202110931880A CN 113459744 A CN113459744 A CN 113459744A
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- 239000000725 suspension Substances 0.000 title claims abstract description 90
- 230000007246 mechanism Effects 0.000 claims abstract description 28
- 230000005540 biological transmission Effects 0.000 claims abstract description 8
- 230000035939 shock Effects 0.000 claims description 11
- 230000008901 benefit Effects 0.000 abstract description 5
- 230000010354 integration Effects 0.000 abstract description 4
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 238000000034 method Methods 0.000 abstract description 4
- 230000008569 process Effects 0.000 abstract description 4
- 230000000712 assembly Effects 0.000 abstract description 2
- 238000000429 assembly Methods 0.000 abstract description 2
- 238000009434 installation Methods 0.000 abstract description 2
- 239000003638 chemical reducing agent Substances 0.000 description 6
- 238000010521 absorption reaction Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000013016 damping Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 239000006096 absorbing agent Substances 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000000739 chaotic effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G3/00—Resilient suspensions for a single wheel
- B60G3/18—Resilient suspensions for a single wheel with two or more pivoted arms, e.g. parallelogram
- B60G3/20—Resilient suspensions for a single wheel with two or more pivoted arms, e.g. parallelogram all arms being rigid
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G11/00—Resilient suspensions characterised by arrangement, location or kind of springs
- B60G11/26—Resilient suspensions characterised by arrangement, location or kind of springs having fluid springs only, e.g. hydropneumatic springs
- B60G11/27—Resilient suspensions characterised by arrangement, location or kind of springs having fluid springs only, e.g. hydropneumatic springs wherein the fluid is a gas
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G11/00—Resilient suspensions characterised by arrangement, location or kind of springs
- B60G11/26—Resilient suspensions characterised by arrangement, location or kind of springs having fluid springs only, e.g. hydropneumatic springs
- B60G11/28—Resilient suspensions characterised by arrangement, location or kind of springs having fluid springs only, e.g. hydropneumatic springs characterised by means specially adapted for attaching the spring to axle or sprung part of the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0418—Electric motor acting on road wheel carriers
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Abstract
The invention discloses a double-rocker independent suspension, steering and walking integrated assembly, relates to the technical field of wheel assemblies, and comprises a rocker suspension module, a steering module and a walking wheel module with independent drive. Through will turn to module, rocking arm suspension module and have the integrated assembly of independent driven walking wheel module, do benefit to the quick installation in indoor outer autopilot dolly chassis or AGV class dolly chassis of using, and the integrated level is high, does benefit to and simplifies dolly chassis structure, need not to design complicated transmission structure at dolly chassis. The vibration generated in the driving process is reduced through the rocker arm suspension module, so that the chassis does not need to be designed with an accommodating space for a mechanism for absorbing vibration, the structure of the chassis is further simplified, the design difficulty of the chassis is reduced, the production of a trolley is favorably improved, and the technical problem that the design of the chassis is complex due to the low integration level of the conventional wheel assembly is effectively solved.
Description
Technical Field
The invention relates to the technical field of wheel assemblies, in particular to a double-rocker independent suspension, steering and walking integrated assembly.
Background
The wheel assembly of the existing trolley is generally composed of tires and wheels, and the driving mechanism and the transmission mechanism on the chassis of the trolley are utilized to drive the wheel assembly to realize the walking of the trolley. However, the wheel assembly has a simple structure and low integration level, so that the chassis of the vehicle needs to be designed with a complex mounting structure for mounting the driving mechanism and the transmission mechanism, which is not beneficial to the production of the trolley. And such wheel assembly shock attenuation effect is poor, and the vibration that the process of traveling produced passes to the vehicle bottom dish easily on, therefore the vehicle bottom dish still need design the arrangement space of the mechanism that absorbs vibrations, further improves the degree of difficulty of vehicle bottom dish design.
Disclosure of Invention
The invention aims to provide a double-rocker independent suspension, steering and walking integrated assembly to solve the technical problem that the design of a chassis of an existing wheel assembly is complex due to low integration level.
In order to achieve the purpose, the invention adopts the following technical scheme: a double-rocker independent suspension, steering and walking integrated assembly comprises a rocker suspension module, a steering module and a walking wheel module with independent drive; the steering module comprises a fixed seat and a steering driving mechanism; the rocker arm suspension module comprises a connecting base, an upper suspension swing arm and a lower suspension swing arm; the top end of the fixed seat is provided with a first rotating part, the bottom end of the fixed seat is provided with a second rotating part, the first rotating part and the second rotating part can respectively rotate relative to the fixed seat, and the rotating shaft of the first rotating part and the rotating shaft of the second rotating part are on the same vertical line; one end of the upper suspension swing arm is hinged with the connecting base, and the other end of the upper suspension swing arm is hinged with the first rotating part; one end of the lower suspension swing arm is hinged with the connecting base, and the other end of the lower suspension swing arm is hinged with the second rotating part; the upper suspension swing arm and the lower suspension swing arm respectively swing up and down relative to the connecting base; the steering driving mechanism is arranged on the lower suspension swing arm and used for driving the fixed seat to rotate around a vertical line where the rotating shaft of the first rotating part and the rotating shaft of the second rotating part are located; the walking wheel module is installed on the fixed seat.
As an optional implementation manner, the steering driving mechanism comprises a first motor module, an output flange and a steering pull rod, wherein a connecting part is arranged on the periphery of the output flange;
the first motor module is fixedly connected with the lower suspension swing arm, the output flange is in transmission connection with the output end of the motor module, and the motor module is used for driving the output flange to horizontally rotate;
one end of the steering pull rod is hinged to the connecting portion, and the other end of the steering pull rod is hinged to the fixing seat.
As an optional implementation manner, the steering module further includes a zero-position pin, the zero-position pin is located above a rotation path of the connecting portion, and the zero-position pin is used for abutting against the connecting portion to confirm a mechanical zero point of the steering module.
As an optional implementation manner, the lower suspension swing arm is provided with a mounting seat, the first motor module is mounted on the mounting seat, the output flange is located above the mounting seat, and the zero-position pin is mounted on the top end face of the mounting seat in a relatively protruding manner.
As an optional implementation manner, the dual-rocker suspension module further includes a suspension spring, one end of the suspension spring is connected to the connection base, and the other end of the suspension spring is connected to the lower suspension swing arm.
As an optional implementation mode, the walking wheel module includes second motor module and shock attenuation tire, the second motor module with fixing base fixed connection, the shock attenuation tire with the output fixed connection of second motor module, the second motor module is used for the drive the shock attenuation tire rotates.
As an optional implementation mode, the connecting base is provided with a plurality of connecting holes, and the connecting holes are used for being fixedly connected with the vehicle underframe.
As an optional implementation mode, the connecting base is provided with a threading hole, and the threading hole is used for enabling a line to penetrate through the connecting base to be electrically connected with the steering module and the walking wheel module.
Compared with the prior art, the embodiment of the invention has the following beneficial effects:
in the embodiment of the invention, the steering module, the rocker arm suspension module and the walking wheel module with independent drive are integrated into an integrated assembly, so that the automatic driving trolley chassis or AGV type trolley chassis which is quickly installed indoors and outdoors is facilitated, the integration level is high, the trolley chassis structure is facilitated to be simplified, and a complex transmission structure does not need to be designed on the trolley chassis.
Specifically, the walking wheel module is installed at the fixing base, and through hanging the swing arm on and hanging the swing arm under with and be connected with the fixing base, and turn to actuating mechanism and install and hang the swing arm under, make the fixing base can shift from top to bottom relative connection base, and turn to actuating mechanism and fixing base and reciprocate in step, realize independently hanging walking wheel module, do not influence again and turn to actuating mechanism drive fixing base and rotate. So, when walking the wheel module and meet bellied barrier or pit, walking the wheel module and turn to the module and can make progress correspondingly and pendulum downwards relative connection base to do benefit to walking the wheel module and pass through unevenness's highway section, possess stronger obstacle-surmounting ability. So hang the vibration that the module reduced the process of traveling produced through the rocking arm, consequently the chassis need not to design the arrangement space who absorbs the mechanism of vibrations, further simplifies the chassis structure, reduces the design degree of difficulty of chassis, does benefit to the improvement dolly production.
It is worth explaining that the steering driving mechanism drives the fixed seat to rotate around a vertical line where the rotating shaft of the first rotating part and the rotating shaft of the second rotating part are located, so that the traveling direction of the traveling wheel module mounted on the fixed seat is changed, the traveling direction of the traveling wheel module is independently changed, and the driving trolley is favorably applied to driving trolleys with multiple driving wheels to realize multiple driving modes.
Drawings
FIG. 1 is a schematic structural diagram of one embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a steering module according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a swing arm suspension module according to one embodiment of the present invention;
in the drawings: 100-rocker arm suspension module, 110-connecting base, 111-connecting hole, 112-threading hole, 120-upper suspension swing arm, 130-lower suspension swing arm, 131-mounting seat, 140-shock absorbing spring, 200-steering module, 210-steering driving mechanism, 211-first motor module, 212-output flange, 213-connecting part, 214-steering pull rod, 220-fixing seat, 221-first rotating part, 222-second rotating part, 230-zero position pin, 300-road wheel module, 310-second motor module and 320-shock absorption tire.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention. Furthermore, features defined as "first" and "second" may explicitly or implicitly include one or more of the features for distinguishing between descriptive features, non-sequential, non-trivial and non-trivial.
Referring to fig. 1 to 3, a dual-rocker independent suspension, steering and walking integrated assembly according to an embodiment of the present invention is described, which includes a rocker suspension module 100, a steering module 200, and a walking wheel module 300 with independent driving. The steering module 200 includes a fixing base 220 and a steering driving mechanism 210. The swing arm suspension module 100 includes a connection base 110, an upper suspension swing arm 120, and a lower suspension swing arm 130. The connection base 110 is used for vehicle body frame connection. The top end of the fixed seat 220 is provided with a first rotating portion 221, the bottom end of the fixed seat 220 is provided with a second rotating portion 222, the first rotating portion 221 and the second rotating portion 222 can rotate relative to the fixed seat 220, and the rotating shaft of the first rotating portion 221 and the rotating shaft of the second rotating portion 222 are on the same vertical line. One end of the upper suspension swing arm 120 is hinged to the connection base 110, and the other end of the upper suspension swing arm 120 is hinged to the first rotating part 221. One end of the lower suspension swing arm 130 is hinged to the connection base 110, and the other end of the lower suspension swing arm 130 is hinged to the second rotating portion 222. The upper suspension swing arm 120 and the lower suspension swing arm 130 swing up and down with respect to the connection base 110, respectively. Specifically, as shown in the preferred embodiment of fig. 3, the upper suspension swing arm 120 is parallel to the lower suspension swing arm 130. The steering driving mechanism 210 is mounted on the lower suspension swing arm 130, and the steering driving mechanism 210 is configured to drive the fixed seat 220 to rotate around a vertical line where the rotation axis of the first rotating portion 221 and the rotation axis of the second rotating portion 222 are located. In some embodiments, the first rotating portion 221 and the second rotating portion 222 may be two ends of a long rotating shaft, the long rotating shaft penetrates from the top end of the fixing base 220 to the bottom end of the fixing base 220, and the fixing base 220 rotates around the long rotating shaft. Specifically, in the preferred embodiment shown in fig. 2, the first rotating part 221 and the second rotating part 222 are respectively an articulated rotating shaft to ensure the inner space of the fixing base 220, and facilitate the fixing base 220 to mount the walking wheel module 300. The traveling wheel module 300 is installed on the fixing seat 220.
In the embodiment of the invention, the steering module 200, the rocker arm suspension module 100 and the walking wheel module 300 with independent drive are integrated into an integrated assembly, so that the automatic driving trolley chassis or AGV type trolley chassis which is quickly installed indoors and outdoors is beneficial to simplifying the trolley chassis structure, and a complex transmission structure does not need to be designed on the trolley chassis.
Specifically, the walking wheel module 300 is installed on the fixed seat 220, and is connected with the fixed seat 220 through the upper suspension swing arm 120 and the lower suspension swing arm 130, and the steering driving mechanism 210 is installed on the lower suspension swing arm 130, so that the fixed seat 220 can move up and down relative to the connection base 110, and the steering driving mechanism 210 and the fixed seat 220 synchronously move up and down, thereby realizing independent suspension of the walking wheel module 300, and not affecting the rotation of the fixed seat 220 driven by the steering driving mechanism 210. Thus, when the walking wheel module 300 encounters a raised obstacle or a pit, the walking wheel module 300 and the steering module 200 can correspondingly swing upwards and downwards relative to the connecting base 110, so that the walking wheel module 300 can conveniently pass through an uneven road section and has stronger obstacle crossing capability. So hang the vibration that module 100 reduces the process of traveling produced through the rocking arm, consequently the vehicle bottom dish need not to design the arrangement space who absorbs the mechanism of vibrations, further simplifies vehicle bottom dish structure, reduces the design degree of difficulty of vehicle bottom dish, does benefit to and improves dolly production.
It should be noted that the steering driving mechanism 210 drives the fixed seat 220 to rotate around the vertical line where the rotating shaft of the first rotating portion 221 and the rotating shaft of the second rotating portion 222 are located, so as to change the traveling direction of the traveling wheel module 300 mounted on the fixed seat 220, and realize independent change of the traveling direction of the traveling wheel module 300, so as to be beneficial to being applied to a multi-driving-wheel driving trolley to realize multiple driving modes, such as multiple trolley traveling modes of straight traveling, in-situ 360-degree rotation, translational lane-cutting, turning and the like.
Referring to fig. 2, as an alternative embodiment, the steering driving mechanism 210 includes a first motor module 211, an output flange 212, and a steering rod 214, and a connecting portion 213 is disposed on an outer circumference of the output flange 212. The first motor module 211 is fixedly connected with the lower suspension swing arm 130, the output flange 212 is in transmission connection with the output end of the first motor module 211, and the first motor module 211 is used for driving the output flange 212 to horizontally rotate. One end of the steering rod 214 is hinged to the connecting portion 213, and the other end of the steering rod 214 is hinged to the fixing seat 220. In this embodiment, the first motor module 211, the output flange 212 and the steering linkage 214 form a crank structure, the output flange 212 is driven to rotate on the horizontal plane through the first motor module 211, and the position of the connecting portion 213 is changed, so as to drive the steering linkage 214 to pull the fixing seat 220 to rotate. Specifically, in a preferred embodiment of the present invention, the first motor module 211 includes a servo motor, a servo motor driver and a harmonic reducer, the servo motor driver is used for starting and stopping the operation of the servo motor, an output end of the servo motor is connected to an input end of the harmonic reducer, and an output end of the harmonic reducer is connected to the output flange 212.
As an alternative embodiment, referring to fig. 2, the steering module 200 further includes a zero position pin 230, the zero position pin 230 is located above the rotation path of the connecting portion 213, and the zero position pin 230 is used for abutting against the connecting portion 213 to confirm the mechanical zero point of the steering module 200. In this embodiment, after the first motor module 211 is powered on, the first motor module 211 drives the output flange 212 to rotate at a low speed, so that the connecting portion 213 rotates toward the position of the zero position pin 230. By using the stalling function of the servo driver in the first motor module 211, when the connecting portion 213 abuts against the zero-position pin 230, the stalling torque of the servo motor in the first motor module 211 is gradually increased, and when the stalling torque of the servo motor is increased to a preset value, the servo driver turns off the servo motor, so that the servo motor stops rotating, and the current point is used as the mechanical zero point of the steering module 200. Specifically, in the present embodiment, the preset value is 25% of the maximum stall torque. Therefore, the steering module 200 does not need to be connected with a battery of the encoder to record a mechanical zero point, and does not need to use a sensor to find the mechanical zero point, so that the preparation cost of the double-rocker independent suspension steering and walking integrated assembly is effectively reduced.
Referring to fig. 2 and 3, as an alternative embodiment, the lower suspension swing arm 130 is provided with a mounting seat 131, the first motor module 211 is mounted on the mounting seat 131, the output flange 212 is located above the mounting seat 131, and the zero position pin 230 is relatively convexly mounted on the top end surface of the mounting seat 131. Specifically, as shown in the embodiment of fig. 2, compared with the technical scheme that the first motor module 211 is installed on the upper suspension swing arm 120 and the first motor module 211 is installed on the installation seat 131 of the lower suspension swing arm 130, the gravity center height of the dual-rocker independent suspension steering and walking integrated assembly is effectively reduced, and the stability of the dual-rocker independent suspension steering and walking integrated assembly is improved.
Referring to fig. 3, as an alternative embodiment, the dual-rocker arm suspension module 100 further includes a suspension spring 140, one end of the suspension spring 140 is connected to the connection base 110, and the other end of the suspension spring 140 is connected to the lower suspension swing arm 130. So, when running into the uneven ground of height when walking wheel module 300 motion state, absorb vibrations through shock absorber spring 140 deformation, play the effect of hanging the buffering, effectively reduce vibrations and pass to the dolly base. Specifically, in the preferred embodiment of the present invention, suspension spring 140 is a gas spring.
Referring to fig. 1, as an alternative embodiment, the road wheel module 300 includes a second motor module 310 and a shock absorption tire 320, the second motor module 310 is fixedly connected to the fixing base 220, the shock absorption tire 320 is fixedly connected to an output end of the second motor module 310, and the second motor module 310 is configured to drive the shock absorption tire 320 to rotate. Therefore, the traveling wheel module 300 is provided with the independent second motor module 310 as a power unit, so that a corresponding driving mechanism does not need to be designed in the trolley base to drive the double-rocker independent suspension, steering and traveling integrated assembly to travel, and the chassis structure of the trolley is simplified. Specifically, in a preferred embodiment of the present invention, the second motor module 310 includes a servo motor, a servo motor driver, and a planetary reducer, the servo motor driver is used for starting and stopping the operation of the servo motor, an output end of the servo motor is connected to an input end of the planetary reducer, and an output end of the planetary reducer is connected to the vibration-damping tire 320, so as to drive the vibration-damping tire 320 to rotate.
Referring to fig. 3, as an alternative embodiment, the connection base 110 is provided with a plurality of connection holes 111, and the connection holes 111 are used for being fixedly connected with a vehicle chassis. Specifically, a plurality of connecting holes 111 are formed in the connecting base 110, and the connecting holes 111 are used for allowing fasteners such as pins or studs to penetrate through the connecting base 110 to be fixedly connected with the vehicle underframe, so that the connecting base 110 is fixedly connected with the vehicle underframe.
Referring to fig. 3, as an alternative embodiment, the connection base 110 is provided with a threading hole 112, and the threading hole 112 is used for allowing a line to pass through the connection base 110 and be electrically connected with the steering module 200 and the road wheel module 300. Specifically, through setting up through wires hole 112 at connection base 110, make the circuit of dolly base can pass connection base 110 with turn to module 200 and walking wheel module 300 electricity and be connected concentratedly, effectively solve the independent suspension of two rocking arms and turn to the integrative assembly of walking and walk the chaotic problem of line, make things convenient for follow-up maintenance.
Other constructions and operations of a dual-swing-arm independent suspension, steer-and-walk integrated assembly according to embodiments of the present invention are known to those of ordinary skill in the art and will not be described in detail herein.
In the description herein, references to the description of the terms "embodiment," "example," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (8)
1. The utility model provides an integrative assembly of two rocking arms independent suspension turn to walking which characterized in that: the device comprises a rocker arm suspension module, a steering module and a walking wheel module with independent drive;
the steering module comprises a fixed seat and a steering driving mechanism;
the rocker arm suspension module comprises a connecting base, an upper suspension swing arm and a lower suspension swing arm;
the top end of the fixed seat is provided with a first rotating part, the bottom end of the fixed seat is provided with a second rotating part, the first rotating part and the second rotating part can respectively rotate relative to the fixed seat, and the rotating shaft of the first rotating part and the rotating shaft of the second rotating part are on the same vertical line;
one end of the upper suspension swing arm is hinged with the connecting base, and the other end of the upper suspension swing arm is hinged with the first rotating part; one end of the lower suspension swing arm is hinged with the connecting base, and the other end of the lower suspension swing arm is hinged with the second rotating part; the upper suspension swing arm and the lower suspension swing arm respectively swing up and down relative to the connecting base;
the steering driving mechanism is arranged on the lower suspension swing arm and used for driving the fixed seat to rotate around a vertical line where the rotating shaft of the first rotating part and the rotating shaft of the second rotating part are located;
the walking wheel module is installed on the fixed seat.
2. The integrated assembly of double-rocker independent suspension, steering and walking of claim 1, which is characterized in that: the steering driving mechanism comprises a first motor module, an output flange and a steering pull rod, and a connecting part is arranged on the periphery of the output flange;
the first motor module is fixedly connected with the lower suspension swing arm, the output flange is in transmission connection with the output end of the first motor module, and the first motor module is used for driving the output flange to horizontally rotate;
one end of the steering pull rod is hinged to the connecting portion, and the other end of the steering pull rod is hinged to the fixing seat.
3. The integrated assembly of double-rocker independent suspension, steering and walking as claimed in claim 2, wherein: the steering module further comprises a zero-position pin, the zero-position pin is located on a rotating path of the connecting portion, and the zero-position pin is used for abutting against the connecting portion to confirm a mechanical zero point of the steering module.
4. The integrated assembly of double-rocker independent suspension, steering and walking of claim 3, wherein: the lower suspension swing arm is provided with a mounting seat, the first motor module is mounted on the mounting seat, the output flange is located above the mounting seat, and the zero-position pin is mounted on the top end face of the mounting seat in a relatively protruding mode.
5. The integrated assembly of double-rocker independent suspension, steering and walking of claim 1, which is characterized in that: the double-rocker suspension module further comprises a shock-absorbing spring, one end of the shock-absorbing spring is connected with the connecting base, and the other end of the shock-absorbing spring is connected with the lower suspension swing arm.
6. The integrated assembly of double-rocker independent suspension, steering and walking of claim 1, which is characterized in that: the walking wheel module includes second motor module and shock attenuation tire, the second motor module with fixing base fixed connection, the shock attenuation tire with the output fixed connection of second motor module, the second motor module is used for the drive the shock attenuation tire rotates.
7. The integrated assembly of double-rocker independent suspension, steering and walking of claim 1, which is characterized in that: the connecting base is provided with a plurality of connecting holes, and the connecting holes are used for being fixedly connected with the vehicle underframe.
8. The integrated assembly of double-rocker independent suspension, steering and walking of claim 1, which is characterized in that: the connecting base is provided with a threading hole, and the threading hole is used for enabling a line to penetrate through the connecting base to be electrically connected with the steering module and the walking wheel module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110931880.4A CN113459744A (en) | 2021-08-13 | 2021-08-13 | Double-rocker independent suspension, steering and walking integrated assembly |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110931880.4A CN113459744A (en) | 2021-08-13 | 2021-08-13 | Double-rocker independent suspension, steering and walking integrated assembly |
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| CN113459744A true CN113459744A (en) | 2021-10-01 |
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| CN202110931880.4A Pending CN113459744A (en) | 2021-08-13 | 2021-08-13 | Double-rocker independent suspension, steering and walking integrated assembly |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114056022A (en) * | 2021-12-20 | 2022-02-18 | 阿波罗智联(北京)科技有限公司 | Wheel suspension assembly, wheel device and vehicle |
| CN115891536A (en) * | 2022-11-17 | 2023-04-04 | 南方科技大学 | Suspension system and car structure |
| CN116750075A (en) * | 2023-06-27 | 2023-09-15 | 江西泰豪军工集团有限公司 | A multi-wheel independent steering system |
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| DE102015220775A1 (en) * | 2015-10-23 | 2017-04-27 | Zf Friedrichshafen Ag | Wheel suspension for a einzckkbares vehicle wheel of a motor vehicle |
| CN205675099U (en) * | 2016-05-24 | 2016-11-09 | 辽宁工业大学 | A kind of independent vehicular modular wheel set driven and turn to |
| CN106585831A (en) * | 2016-12-13 | 2017-04-26 | 重庆宗申技术开发研究有限公司 | Front suspension deflecting structure for backing of tricycle |
| US20200207405A1 (en) * | 2018-12-27 | 2020-07-02 | Toyota Jidosha Kabushiki Kaisha | Steering device and vehicle wheel mounting module including the same |
| CN210160654U (en) * | 2019-04-08 | 2020-03-20 | 上海君屹工业自动化股份有限公司 | Single-shaft servo displacement rotary table |
| CN110239336A (en) * | 2019-06-21 | 2019-09-17 | 深圳市安泽智能机器人有限公司 | Chassis system and robot |
| CN112407042A (en) * | 2020-12-10 | 2021-02-26 | 邵一凯 | Steering auxiliary system based on vehicle multi-connecting-rod rear suspension system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114056022A (en) * | 2021-12-20 | 2022-02-18 | 阿波罗智联(北京)科技有限公司 | Wheel suspension assembly, wheel device and vehicle |
| CN115891536A (en) * | 2022-11-17 | 2023-04-04 | 南方科技大学 | Suspension system and car structure |
| CN116750075A (en) * | 2023-06-27 | 2023-09-15 | 江西泰豪军工集团有限公司 | A multi-wheel independent steering system |
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