The invention discloses a four-wheel drive robot and a chassis thereof. The chassis comprises a chassis frame and four driving wheel sets installed at the positions of four wheels of the chassis frame, and each driving wheel set comprises a hub motor, a steering motor, a swing arm, a fixing base, a supporting base and a transmission shaft. For each driving wheel set, a swing arm in the driving wheel set is fixedly installed on the chassis frame, the position of the swing arm on the opposite side is fixed, the stator of the hub motor is vertically fixed through a fixing base, a supporting baseis fixedly installed on the fixing base, and the supporting base is in transmission connection with a motor shaft of the rotating motor through the transmission shaft. The steering motors are arrangedon the hub motors respectively, the stators of the hub motors are fixed through the fixing plates, and then the fixing plates, the supporting seats and the transmission shafts are in transmission connection with the motor shafts of the steering motors, so that the stators of the hub motors can rotate in the direction under transmission of the steering motors, therefore, independent steering of the four tires can be achieved.

    本申请揭示了一种四轮驱动机器人及其底盘,该底盘包括底盘框架和安装于所述底盘框架的四个车轮位置处的四组驱动轮组,每组驱动轮组包括轮毂电机、转向电机、摆臂、固定座、支撑座和传动轴,其中:对于每个驱动轮组,驱动轮组中的摆臂固定安装于底盘框架上,且相对另一侧的摆臂位置固定,轮毂电机的定子由固定座上下固定,固定座上固定安装有一支撑座,支撑座通过传动轴与转动电机的电机轴传动连接。本申请通过在每个轮毂电机上设置一个转向电机,并利用固定板固定轮毂电机的定子,再将固定板、支撑座和传动轴与转向电机的电机轴传动连接,使得轮毂电机的定子可以在转向电机的传动下转动方向,从而可以实现对四个轮胎的单独转向。


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    Title :

    Four-wheel drive robot and chassis thereof


    Additional title:

    一种四轮驱动机器人及其底盘


    Contributors:
    LIU BIAO (author) / CHEN QINGGE (author) / BAI LIN (author) / SU XIAOJIE (author) / HUANG JIANGSHUAI (author) / SHU HAIYAN (author) / SU KAI (author) / SHEN CHUANGYUN (author) / ZHU TAOJIAN (author) / LEI YIHUI (author)

    Publication date :

    2021-03-19


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60K Anordnung oder Einbau von Antriebseinheiten oder von Kraft- bzw. Drehmomentübertragungen in Fahrzeugen , ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES / B62D MOTOR VEHICLES , Motorfahrzeuge



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