The invention reveals a chassis with four wheels independently driven and independently steered. The wheels are fixed to the two sides of a vehicle frame through independent wheel carriers respectively, each wheel carrier is connected with an independent steering unit, each steering unit is provided with a hub bearing sleeve, an output flange is fixed to the upper portion of each hub bearing sleeve, a speed reducer is fixed to each output flange, the input end of the speed reducer is connected with a steering motor, a hub rotating shaft is arranged in the hub bearing sleeve, the upper end of the hub rotating shaft is connected with the output end of the speed reducer, the lower end of the hub rotating shaft is connected with a wheel carrier, and the hub bearing sleeve is fixed to a frame on the side where the hub bearing sleeve is located through a connecting piece. According to the drive-by-wire chassis, driving force is provided by the four hub motors, the four steering servo motors control steering of the four wheels correspondingly, each wheel can rotate by 360 degrees, multiple motion mode selections are achieved, high adaptability and flexibility are achieved, the steering problem of the movable chassis under the complex and narrow road conditions is solved, power distribution of each wheel can be controlled, so that the control error-tolerant rate is greatly improved, and dangerous situations are reduced.

    本发明揭示了一种四轮独立驱动独立转向的底盘,车架两侧分别通过独立的轮架固定有车轮,每个所述轮架连接独立的转向单元,所述转向单元设有轮毂轴承套,所述轮毂轴承套上方固定有输出法兰,所述输出法兰上固定有减速器,所述减速器的输入端连接转向电机,所述轮毂轴承套内设有轮毂转轴,所述轮毂转轴上端连接减速器的输出端,所述轮毂转轴下端连接轮架,所述轮毂轴承套通过连接件固定在所在侧的车架上。本发明线控底盘由四个轮毂电机提供驱动力,由四个转向伺服电机分别控制四个车轮的转向且每个车轮均能实现360度旋转,具有多种运动模式选择,具有非常强的适应性和灵活性,提高移动地盘中,复杂狭小路况下的转向问题,且能控制每个车轮的动力分配,大大提高控制容错率,减少了危险情况的发生。


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    Title :

    Chassis with four wheels independently driven and independently steered


    Additional title:

    一种四轮独立驱动独立转向的底盘


    Contributors:
    SHI PEICHENG (author) / CHEN XU (author) / ZHANG LIANG (author) / CHEN XIANMIN (author) / NI XUAN (author) / QI HENG (author) / LI LONG (author) / LIANG TAONIAN (author) / WANG JINQIAO (author) / YANG AIXI (author)

    Publication date :

    2021-06-29


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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