CN101830247B - Steering mechanism of movable platform - Google Patents
Steering mechanism of movable platform Download PDFInfo
- Publication number
- CN101830247B CN101830247B CN2010101735204A CN201010173520A CN101830247B CN 101830247 B CN101830247 B CN 101830247B CN 2010101735204 A CN2010101735204 A CN 2010101735204A CN 201010173520 A CN201010173520 A CN 201010173520A CN 101830247 B CN101830247 B CN 101830247B
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- machine
- connecting rod
- driving lever
- tumbler
- wheel
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Abstract
The invention relates to a steering mechanism of a movable platform, which comprises a motor, a receiver, a remote controller, a wheel shaft, a support plate, a rotary piece, a connecting rod, a shift rod, U-shaped steel and a machine frame. The direct current motor is fixed on the machine frame through the U-shaped steel, and is controlled by the receiver and the remote controller to rotate forwards and backwards. The motor rotates forwards and backwards to drive the shift rod to swing left and right. The shift rod swings to make the rotary piece move. The rotary piece drives the connecting rod to move left and right. The connecting rod moves to drive the support plate to swing left and right. The wheel shaft drives the wheel to rotate. The steering structure has the advantages of simple structure, convenient operation and low manufacture cost, and can be used for remotely controlling the movable platform to steer and adjusting the minimum steering radius through adjusting the distance between the connecting rod and the front side of the support plate.
Description
Technical field
The invention belongs to field of mechanical technique, relate to a kind of steering mechanism of movable platform, realize mobile platform front-wheel automatic steering through the rotating kinetic energy of control DC machine.
Background technology
In production reality; As being realization farming machine AUTONOMOUS TASK in the agricultural production; Realization is to field information acquisition, accurately spray chemical fertilizer, agricultural chemicals, herbicide automatically; In commercial production, realize material handling, transfer etc., often need a kind of ability to realize the four-wheel mobile platform of independently walking and turning to.The mobile platform steering mode mainly contains two kinds at present: the mobile platform that a kind of intellectuality is higher, adopt four wheel drive, four-wheel steering mode.Four motors drive 4 wheels simultaneously, use 4 electric machine control four wheels to turn in addition, make wherein arbitrary wheel all can realize freely rotating in 360 °; But adopt this kind steering mode that synchronism is had relatively high expectations, poor reliability, complicated operation; Cost is higher, also is in test session at present.A kind of better simply steering mode; Be to provide steering torque to make wheel steering with hand direct control steering handwheel etc.; But autonomous mobile platform often need be deep into the occasion that various staff are difficult to direct contact in practical application, so the unsuitable Long-distance Control of this kind steering mode, restricted application.
On March 5th, 2008, disclosed one Chinese patent application 200610086128.X provided a kind of all-wheel powered electric power steering.Adopt a plurality of recirculating ball electric direction varying device+controllers+steering gear connection to form whole whole-wheel electric steering system.This multi axle drive vehicle, every axle be axle drive shaft be again steering shaft, electric direction varying device and corresponding steering gear connection all have been installed on every axle.This multiaxis electric power steering is implemented the multi-axle motor servo-steering under the control of a master controller; In each driving---under the restriction of custom-designed steering gear connection, the a/s track of each wheel can be implemented tight turn radius and turn to the crab every trade on the steering shaft.Controller advances and turns to through torque sensor and car speed sensor control vehicle, but because controller is had relatively high expectations, its real-time, synchronism, stability are difficult to be guaranteed, and suitable Long-distance Control vehicle automatic steering.
Summary of the invention
The objective of the invention is problem, provide a kind of simple in structure, easy to operate, lower-cost electric steering mechanism to existing mobile platform existence.
For realizing above-mentioned purpose, the present invention adopts technical scheme following:
A kind of four-wheel steering mechanism of movable platform comprises DC machine, receptor, remote controller, wheel shaft, stay bearing plate, tumbler, connecting rod, driving lever and frame.DC machine is fixed on the frame, and DC machine links to each other with receptor through lead, and the DC machine output shaft is fixed in the driving lever one end axle sleeve, and receptor inside contains infrared or wireless receiving module; The hand control remote controller makes DC motor positive and negative rotation moving, and the rotation of DC machine drives the swing of driving lever; Driving lever one end passes tumbler, and tumbler is placed on respectively in the through hole of fastener and connecting rod at two ends up and down, and tumbler is free to rotate; The motion of driving lever swing causing tumbler; Tumbler drivening rod sway; Connecting rod links to each other with the stay bearing plate front side, and the sway through connecting rod drives the swing of supported on both sides plate, and the stay bearing plate downside links to each other with wheel shaft; Drive through wheel shaft realizes that two-wheel rotates synchronously, thereby realizes the rotation of four-wheel mobile platform.
DC machine is fixed on the frame through the U-shaped steel, opens a circular hole in the middle of the U-shaped steel, and the DC machine output shaft is fixed in the axle sleeve of driving lever one end through circular hole.
Said stay bearing plate is divided into downside, upside and front side three parts; The downside both sides use bearing, connecting panel to link to each other with wheel shaft with bolt and nut, and upside plays the frames effect, and the front side links to each other with connecting rod through straight pin.
Said driving lever is that an axle sleeve and a round bar are welded; Axle sleeve leaves a tapped bore and screws in tightening screw, and the DC machine output shaft is fixed in the axle sleeve.
Adopt steering mechanism of movable platform of the present invention owing to adopted above technical scheme, make it have following advantage and characteristics:
1, receptor inside contains wireless or infrared receiving module, can use a teleswitch to realize turning to of Long-distance Control mobile platform.
2, steering hardware becomes symmetrical structural arrangement, and is simple in structure, can realize that two-wheeled turns to synchronously.Leave a fixed gap in tumbler and fastener and the connecting rod circular hole, tumbler rotates flexibly, can not killed.
3, can regulate minimum turning radius through the distance between adjustable support plate front side and the connecting rod.Whole steering hardware mounting or dismounting are convenient, and cost is low, and driving efficiency is higher.
Description of drawings
To embodiments of the invention and combine the description of its accompanying drawing, can further understand the object of the invention and specific structural features through following.Wherein, accompanying drawing is:
Fig. 1 is the steering mechanism of movable platform block diagram
Fig. 2 is connecting rod, driving lever, tumbler, fastener locations graph of a relation
Fig. 3 is DC machine output shaft and driving lever connection diagram
Fig. 4 is the tumbler detail drawing
Fig. 5 is the stay bearing plate detail drawing
Among the figure: 1. frame; 2. receptor; 3. remote controller; 4. DC machine; 5.U shape steel; 6. stay bearing plate; 7. connecting rod; 8. driving lever; 9. wheel shaft; 10. fastener; 11. tumbler
The specific embodiment
Further specify technical scheme of the present invention below in conjunction with accompanying drawing and instance.
Comprise remote controller 3 like Fig. 1, the steering hardware of the present invention shown in 2, remote controller 3 is used for sending control command, can control DC machine 4 through different key and just change, reverses and stopping; Receptor 2, inside contains infrared receiving module, can accept the instruction that remote controller 3 sends, and through these instruction control DC machine 4 rotatings and stop, receptor 2 adopts the 24V DC power supplies; DC machine 4 links to each other through lead with receptor 2, and DC machine 4 is fixed on the U-shaped steel 5 through bolt and nut, and U-shaped steel 5 is welded on the frame 1, has through holes in the middle of the U-shaped steel 5, the DC machine output shaft through this through hole to held; Driving lever 8 is welded by oval bar and axle sleeve, and is as shown in Figure 3, through tightening screw the DC machine output shaft is fixed in the driving lever 8 one end axle sleeves, and driving lever 8 other ends pass tumbler 11; As shown in Figure 4, tumbler 11, thin up and down barrel portion places fastener 10 and connecting rod 7 circular holes respectively, and is free to rotate; Fastener 10 is fixed on the connecting rod 7 through bolt and nut; Connecting rod 7 connects supported on both sides plate 6, links to each other with stay bearing plate 6 front sides through straight pin; Stay bearing plate 6, as shown in Figure 5, stay bearing plate 6 is divided into upside; Downside, front side three parts, downside links to each other with wheel shaft 9 through bearing, connecting panel, bolt and nut; Upside plays 1 effect of support mobile platform frame, and front side and connecting rod 7 are hinged, between stay bearing plate upside and the downside reinforcing rib structure are arranged; Wheel shaft 9 connects stay bearing plate 6 and wheel.
Working process of the present invention is: realize that through the different key of manually pressing remote controller 3 control DC machine 4 is just changeing; The counter-rotating and stop; DC machine 4 rotates and drives driving lever 8 swings, through the effect of fastener 10 and tumbler 11, drivening rod 7 sway; Connecting rod 7 moves drive stay bearing plate 6 and swings, and the stay bearing plate downside drives the rotation of wheel through wheel shaft.
Though the present invention explains at preceding text according to preferred embodiment; But this does not represent that the present invention is confined to above-mentioned structure; For example U-shaped steel 5 can be fixed on purpose on the frame 1 as long as reach U-shaped steel 5 through welding or bolt and nut connection with frame 1.
Claims (4)
1. four-wheel steering mechanism of movable platform, it is characterized in that: said steering hardware comprises DC machine (4), receptor (2), remote controller (3), wheel shaft (9), stay bearing plate (6), tumbler (11), connecting rod (7), driving lever (8) and frame (1); DC machine (4) is fixed on the frame (1), and DC machine (4) links to each other with receptor (2) through lead, and DC machine (4) output shaft is fixed in the axle sleeve of driving lever (8) one ends, and receptor (2) inside contains infrared or wireless receiving module; Hand control remote controller (3) makes the positive and negative rotation of DC machine (4), and the rotation of DC machine (4) drives the swing of driving lever (8); Driving lever (8) one ends pass tumbler (11), and tumbler (11) two ends up and down is placed on respectively in the through hole of fastener (10) and connecting rod (7), and tumbler (11) can freely rotate; Driving lever (8) swing the causing motion of tumbler (11); Tumbler (11) drivening rod (7) sway; Connecting rod (7) links to each other with stay bearing plate (6) front side, and the sway through connecting rod (7) drives the swing of supported on both sides plate (6), and stay bearing plate (6) downside links to each other with wheel shaft (9); Drive through wheel shaft (9) realizes that two-wheel rotates synchronously, thereby realizes the rotation of four-wheel mobile platform.
2. steering hardware according to claim 1 is characterized in that: DC machine (4) is fixed on the frame through U-shaped steel (5), opens a circular hole in the middle of the U-shaped steel (5), and DC machine (4) output shaft is fixed in the axle sleeve of driving lever (8) one ends through circular hole.
3. steering hardware according to claim 1 is characterized in that, said stay bearing plate (6) is divided into downside, upside and front side three parts; The downside both sides use bearing, connecting panel to link to each other with wheel shaft (9) with bolt and nut, and upside plays the frames effect, and the front side links to each other with connecting rod (7) through straight pin.
4. steering hardware according to claim 1 is characterized in that, said driving lever (8) is that an axle sleeve and a round bar are welded; Axle sleeve leaves a tapped bore and screws in tightening screw, and DC machine (4) output shaft is fixed in the axle sleeve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010101735204A CN101830247B (en) | 2010-05-14 | 2010-05-14 | Steering mechanism of movable platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010101735204A CN101830247B (en) | 2010-05-14 | 2010-05-14 | Steering mechanism of movable platform |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101830247A CN101830247A (en) | 2010-09-15 |
| CN101830247B true CN101830247B (en) | 2012-02-15 |
Family
ID=42714503
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010101735204A Expired - Fee Related CN101830247B (en) | 2010-05-14 | 2010-05-14 | Steering mechanism of movable platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101830247B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102476640A (en) * | 2010-11-26 | 2012-05-30 | 南车成都机车车辆有限公司 | Framework trolley |
| CN103042949A (en) * | 2013-01-18 | 2013-04-17 | 中国农业大学 | Power-driven chassis for remote control speed regulating and steering by bluetooth serial port |
| CN108529148A (en) * | 2017-10-27 | 2018-09-14 | 广西曼彻彼斯自动化设备有限公司 | The small vehicle steering mechanism of Rail logistics |
| CN110015367B (en) * | 2019-04-27 | 2021-11-30 | 程志刚 | Intelligent balance electric tricycle capable of inclining laterally and control method thereof |
| CN111422242B (en) * | 2020-04-08 | 2021-09-10 | 福建盛海智能科技有限公司 | Steering structure |
| CN112590988B (en) * | 2020-11-30 | 2022-02-11 | 徐州耀武机车有限公司 | Electric three-wheel same-direction steering control mechanism |
| CN113348862A (en) * | 2021-06-30 | 2021-09-07 | 江苏大学 | Automatic row aligning device and method for orderly harvesting leaf vegetables and harvester |
-
2010
- 2010-05-14 CN CN2010101735204A patent/CN101830247B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN101830247A (en) | 2010-09-15 |
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| C14 | Grant of patent or utility model | ||
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120215 Termination date: 20150514 |
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| EXPY | Termination of patent right or utility model |