CN100393582C - Independent steering gear of scroll torsion - Google Patents
Independent steering gear of scroll torsion Download PDFInfo
- Publication number
- CN100393582C CN100393582C CNB2006101130968A CN200610113096A CN100393582C CN 100393582 C CN100393582 C CN 100393582C CN B2006101130968 A CNB2006101130968 A CN B2006101130968A CN 200610113096 A CN200610113096 A CN 200610113096A CN 100393582 C CN100393582 C CN 100393582C
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- motor
- differential
- driven wheel
- wheel
- steer
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Abstract
A rolling and torsion separated steering mechanism for ensuring the wheel to roll on the ground without sliding when vehicle is steering is composed of drive motor and its shell, steering motor and its shell and fixing holder, elbow, U-shaped fork, angle sensor, fixed bevel gear and driven bevel gear.
Description
Technical field
The present invention relates to a kind of steering hardware, specifically, be meant a kind of steering hardware that is applicable to unconventional traveling vehicles such as survey of deep space, it relies on scroll torsion to realize independent steering, and steering hardware of the present invention can be used as the steering hardware of the traveling vehicle of diameter-variable wheel (number of patent application 200510077267.1) or other individual drive.
Background technology
Survey of deep space vehicle steering mechanism and the existing similar place of the steering hardware of conventional driving vehicle also have difference.Mainly be divided into following several: Ai Keman turns to (ackerman-steered), skid steer (skidsteered), articulated type turns to and four-wheel steering axle---articulated type turns to, car body---.The survey of deep space vehicle adopts four-wheel steering mode and skid steer mode more both at home and abroad.
Four horn rings of four-wheel steering survey of deep space vehicle adopt the mode of individual drive, and the deflection angle of each horn ring of accuracy control realizes that the turning to of different radii, pivot stud and driftage travel.The four-wheel steering mode is useful under the harder rock surface environment, because the degree of depth that wheel sink is less, turns to the energy that is consumed also less.The face of land of Mars is the lava plain based on a large amount of broken basement rock that distributing, and therefore, most of mars exploration vehicle has adopted this steering mode.But when the four-wheel steering vehicle travels with the low speed of a motor vehicle, because wheel is the face contact with ground-surface the contact, rather than some contact, this steering mode needs bigger energy to remove to overcome sliding-frictional resistance and resisting moment, even run into little obstacle, turning to also needs to consume lot of energy, even is stuck.Reduced the safety that detection vehicle turns to.
Skid steer is to realize turning to of different radii even pivot stud by outside wheel speed in changing.The wheeled moving vehicle of skid steer is simple in structure, does not need the special driver train that turns to; In addition, because the alerting ability of skid steer, thereby be used for particularly being widely used in the place that turns to the space to be restricted such as environment such as mine, the moon, Mars.But during skid steer, wheel be except overcoming rolling resistance, the resistance of its slippage of prevention that produces in the time of also must overcoming with the ground slide relative, and power of motor consumption increases greatly; And its outboard wheels energy consuming ratio inboard is many.Simultaneously, skid steer can destroy the accumulation situation of surface soil, produces bigger destruction, and the wearing and tearing of wheel also are the problems that can not ignore.Though it is simple in structure that the skid steer mobile robot has, and turns to flexible characteristic; But, because its limitation makes the skid steer mobile robot generally adopt the compages type that combines with other mechanisms.
Because the environment of menology is different with Mars, the face of land is covered with light soft lunar soil in conjunction with sand ground on the similar earth of one deck.When on soft lunar soil, adopting four-wheel steering, destroy menology easily, cause the accumulation of lunar soil, increase cornering resistance, even be stuck.In order to overcome the drawback that four-wheel steering turns on mellow soil, the invention provides a kind of four-wheel steering mechanism that can independently finish scroll torsion.
Summary of the invention
The purpose of this invention is to provide a kind of independent steering gear of scroll torsion, this mechanism adopts a drive motor to drive and makes the driven wheel of differential rotation when turning rotation; Adopt a steer motor to drive the rotation that realizes wheel when turning rotation, guaranteed to roll when wheel contacts with ground, rather than slide, thereby reduced the expenditure of energy of wheel when turning to, when improving wheel effectively and turning to the destruction of accumulation on ground surface situation, the safety that improves the survey of deep space Vehicular turn.
The present invention is a kind of independent steering gear of scroll torsion, comprises drive motor motor casing, drive motor, steer motor, steer motor motor casing, turns, U-shaped fork, angular transducer, steer motor motor Connection Block, fixed cone gear, driven wheel of differential.The two ends of U-shaped fork by screw retention on turning on the lower house; Steer motor is installed on the steer motor motor casing by screw, the steer motor motor casing is by screw and the fixed installation of steer motor motor Connection Block, the shoulder axle head of fixed cone gear is fixed by the pin and the motor Connection Block other end, and the centre hole of fixed cone gear is socketed on the center shaft that turns top; The awl increment of fixed cone gear and the engagement of the awl increment of driven wheel of differential, and driven wheel of differential is placed on the inside of turning.The shoulder axle head of driven wheel of differential is socketed on the bearing, and bearing and seal cover cap are fixed, thereby driven wheel of differential is rotated with respect to seal cover cap.Seal cover cap and baffle plate by screw retention on turning.One end of drive motor motor casing passes the centre hole of driven wheel of differential, and fix by pin and driven wheel of differential, in the other end of drive motor motor casing electric motor end cap is installed, drive motor is fixedly mounted on the drive motor motor casing by electric motor end cap, and the output shaft of drive motor is connected with the wheel hub of wheel.
Described independent steering gear of scroll torsion, its driven wheel of differential and described axle drive shaft revolution of turning around described steer motor.
Described independent steering gear of scroll torsion, it turns, fixed cone gear, driven wheel of differential constitute planet circular system.
The advantage of independent steering gear of scroll torsion of the present invention is:
1. turn to power consumption little
The planet circular system of independent steering gear of scroll torsion of the present invention (by turn 3, fixed cone gear 7, driven wheel of differential 8 constitute), with respect to the ground pure rolling, tire only is subjected to rolling frictional resistance when having guaranteed that wheel turns to.Because under the mellow soil condition, when tire and ground effects, coefficient of rolling friction is far smaller than coefficient of sliding resistance.Therefore, adopt scroll torsion to turn to significantly reduce and turn to expenditure of energy.
2. turn to flexibly
The survey of deep space vehicle adopts the individual drive mode of independent steering gear of scroll torsion of the present invention, the deflection angle of each horn ring (wheel) of energy accuracy control vehicle, realize that the turning to of different radii, pivot stud and driftage travel, make vehicle have turning efficiency flexibly.
3. steering safety raising
Independent steering gear of scroll torsion of the present invention is designed to the scroll torsion mode, guarantees wheel with respect to the ground pure rolling, when having improved wheel and under the mellow soil condition, having turned, and the packing phenomenon of soil, the safety that has improved the survey of deep space Vehicular turn.
4. less to the damage of environment
The survey of deep space vehicle adopts independent steering gear of scroll torsion control of the present invention to turn to, and its tire and ground are pure rolling, and the soil resistance of gathering around of wheel significantly reduces, and actv. has improved the soil packing phenomenon, and is less to environmental damage.
5. the wearing and tearing of wheel are less
Because wheel is done pure rolling, with ground-surface friction force based on rolling resistance, reduced wheel and ground-surface slippage, less to the damage of wheel.
Description of drawings
Fig. 1 is the external structure of independent steering gear of scroll torsion of the present invention.
Fig. 2 is the A-A cutaway view of Fig. 1.
Fig. 3 is the scheme of erection of steering hardware of the present invention and wheel nave.
Among the figure: 1. motor case 1a. drive motor 1b. axle drive shaft 1c. end cap 2. motor case 2a. steer motor 2b. axle drive shafts 3. turn 4.U shape and pitch 5. angular transducers, 6. Connection Blocks, 7. fixed cone gears, 8. driven wheel of differentials, 9. baffle plates, 10. seal cover caps, 11. bearings, 12. wheels, 13. wheel hubs
Attach the body embodiment
The present invention is described in further detail below in conjunction with accompanying drawing.
See also Fig. 1, shown in Figure 2, the present invention is a kind of independent steering gear of scroll torsion, by drive motor motor casing 1, drive motor 1a, steer motor 2a, steer motor motor casing 2, turn 3, U-shaped fork 4, angular transducer 5, steer motor motor Connection Block 6, fixed cone gear 7, driven wheel of differential 8, baffle plate 9, seal cover cap 10 and bearing 11 form.
The two ends of U-shaped fork 4 by screw retention turn 3 on the lower house;
In the present invention, turn 3, fixed cone gear 7, driven wheel of differential 8 constituted a planet circular system.Baffle plate 9 is installed in the draw-in groove position of drive motor motor casing 1, is used to limit drive motor motor casing 1 and moves axially along motor casing.When steer motor 2a works, the axle drive shaft 2b direct drive of steer motor 2a turns 3 rotations, thereby make driven wheel of differential 8 except with turn 3 together around the rotation of the axis of drive motor motor casing 1, also can with fixed cone gear 7 mutual actions, around the axis rotation of self.Entire mechanism is except around the rotatablely moving of the axle drive shaft of steer motor 2a, and also has rotatablely moving around the axis of drive motor motor casing 1.Thereby the scroll torsion of the wheel 12 when realizing turning to motion.
See also shown in Figure 3ly, fixed cone gear 7 is fixedly connected with steer motor motor casing 2, and when steer motor 2a turned to, the axle drive shaft 2b of steer motor 2a turned 3 rotations with driving.Driven wheel of differential 8 except with turn 3 together the revolution, also can be around 7 rotations of fixed cone gear.Driven wheel of differential 8 is fixedly connected with drive motor motor casing 1, thereby rotatablely moving of steer motor 2a is delivered on the wheel 12, and, guaranteeing wheel 12 with respect to the ground pure rolling by controlling the transmitting ratio of driven wheel of differential 8 and fixed cone gear 7, tire only is subjected to rolling frictional resistance.Independent steering gear of scroll torsion of the present invention is installed on the wheel hub 13 of each wheel of vehicle, four of vehicle wheels adopt the modes that independent steering drives like this, more can accurately control the deflection angle of each wheel, realize that the turning to of different radii, pivot stud and driftage travel.
Claims (4)
1. independent steering gear of scroll torsion, comprise drive motor motor casing (1), drive motor (1a), steer motor (2a), steer motor motor casing (2), steer motor motor Connection Block (6), described steer motor (2a) is installed on the steer motor motor casing (2) by screw, steer motor motor casing (2) is by screw and steer motor motor Connection Block (6) fixed installation, electric motor end cap (1c) is installed in the other end of drive motor motor casing (1), drive motor (1a) is fixedly mounted on the drive motor motor casing (1) by electric motor end cap (1c), it is characterized in that: also comprise and turn (3), U-shaped fork (4), angular transducer (5), fixed cone gear (7), driven wheel of differential (8);
The two ends of described U-shaped fork (4) by screw retention on the last lower house of described turning (3);
The shoulder axle head of fixed cone gear (7) is fixed by the pin and motor Connection Block (6) other end, and the centre hole of fixed cone gear (7) is socketed on the center shaft that turns (3) top; The awl increment engagement of the awl increment of fixed cone gear (7) and driven wheel of differential (8), and driven wheel of differential (8) is placed on the inside of turning (3); The shoulder axle head of driven wheel of differential (8) is socketed on the bearing (11), and bearing (11) is fixing with seal cover cap (10), thereby driven wheel of differential (8) is rotated with respect to seal cover cap (10); Seal cover cap (10) is turning on (3) by screw retention with baffle plate (9);
One end of described drive motor motor casing (1) passes the centre hole of driven wheel of differential (8), and fixing by pin and driven wheel of differential (8), and the output shaft of drive motor (1a) is connected with the wheel hub (13) of wheel (12).
2. independent steering gear of scroll torsion according to claim 1 is characterized in that: described driven wheel of differential (8) and described turning (3) are around axle drive shaft (2b) revolution of described steer motor (2a).
3. independent steering gear of scroll torsion according to claim 1 is characterized in that: described driven wheel of differential (8) is around described fixed cone gear (7) rotation.
4. independent steering gear of scroll torsion according to claim 1 is characterized in that: described turning (3), fixed cone gear (7), driven wheel of differential (8) constitute planet circular system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006101130968A CN100393582C (en) | 2006-09-11 | 2006-09-11 | Independent steering gear of scroll torsion |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006101130968A CN100393582C (en) | 2006-09-11 | 2006-09-11 | Independent steering gear of scroll torsion |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1915747A CN1915747A (en) | 2007-02-21 |
| CN100393582C true CN100393582C (en) | 2008-06-11 |
Family
ID=37736861
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2006101130968A Expired - Fee Related CN100393582C (en) | 2006-09-11 | 2006-09-11 | Independent steering gear of scroll torsion |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN100393582C (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101214826B (en) * | 2008-01-09 | 2010-11-03 | 湖南大学 | Hub for embedded independent driving system and steering system |
| CN103042883A (en) * | 2013-01-23 | 2013-04-17 | 中国农业大学 | Driving wheel system capable of realizing universal rotation |
| CN105128973A (en) * | 2015-07-27 | 2015-12-09 | 徐金鹏 | Mars detection vehicle chassis |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11139328A (en) * | 1997-11-05 | 1999-05-25 | Hino Motors Ltd | Steering device |
| DE19949351A1 (en) * | 1999-10-13 | 2001-07-12 | Hanebeck Uwe D | Wheel module with at least one wheel; has drive motor with drive shaft and steering motor to steer wheel about steering angle, where one shaft is hollow and other shaft rotates in it |
| CN1718510A (en) * | 2005-07-14 | 2006-01-11 | 上海交通大学 | Driving and steering integrated wheel of moon craft |
-
2006
- 2006-09-11 CN CNB2006101130968A patent/CN100393582C/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11139328A (en) * | 1997-11-05 | 1999-05-25 | Hino Motors Ltd | Steering device |
| DE19949351A1 (en) * | 1999-10-13 | 2001-07-12 | Hanebeck Uwe D | Wheel module with at least one wheel; has drive motor with drive shaft and steering motor to steer wheel about steering angle, where one shaft is hollow and other shaft rotates in it |
| CN1718510A (en) * | 2005-07-14 | 2006-01-11 | 上海交通大学 | Driving and steering integrated wheel of moon craft |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1915747A (en) | 2007-02-21 |
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Granted publication date: 20080611 |