CN101830248A - Connecting rod steering mechanism - Google Patents
Connecting rod steering mechanism Download PDFInfo
- Publication number
- CN101830248A CN101830248A CN 201010179661 CN201010179661A CN101830248A CN 101830248 A CN101830248 A CN 101830248A CN 201010179661 CN201010179661 CN 201010179661 CN 201010179661 A CN201010179661 A CN 201010179661A CN 101830248 A CN101830248 A CN 101830248A
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- CN
- China
- Prior art keywords
- bar
- rod
- steering
- wheel
- car body
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Abstract
The invention aims to provide a connecting rod steering mechanism. The connecting rod steering mechanism comprises an automobile chassis, rods, wheels, a steering engine and an angular spacer, wherein the rods comprise a first rod, a second rod and a third rod; the steering engine is installed on the automobile chassis; the first rod is installed on the automobile chassis and circumferentially moves around the installation point on the automobile chassis; the third rod is installed on the steering engine and circumferentially moves around the surface of the steering engine by using the steering engine as the pivot; the second rod is connected with the first rod and the third rod and positioned between the first rod and the third rod; the angular spacer is installed on both sides of the first rod; and the wheels are installed under the automobile chassis. The invention has the advantage of simple structure, can greatly reduce the turn radius of the automobile body, and solves the problem of electric centering on the steering mechanism by supplying power with the steering engine.
Description
Technical field
What the present invention relates to is a kind of physical construction that device moves, turns to that is used for.
Background technology
Steering hardware is all influential to aspects such as Vehicular turn characteristic, driver comfort, energy-conservation and tire lifes.Though there is various ways in the wheeled car steering hardware, its main difference point is determined by the various forms tie rod linkage: and tie rod linkage is to realize that vehicle does not have the key mechanism of sideslip and steering.Advantages such as it is simple in structure, reliable and light-duty that connecting rod mechanism has are widely used in the steering mechanical.Existing vehicle front Ackermann steering gear four-bar mechanism is the trapezoidal planar pivot four-bar mechanisms of isosceles.The Ackermann steering gear four-bar mechanism is simplified comparatively speaking inadequately, makes it be widely used in having certain difficulty in the various Innovative Productions.
Summary of the invention
The object of the present invention is to provide easy making and have good stability, can greatly reduce the connecting rod steering mechanism of the turn radius of car body.
The object of the present invention is achieved like this:
Connecting rod steering mechanism of the present invention, comprise car body chassis, bar and wheel, it is characterized in that: comprise that also steering wheel and angle are spacing, bar comprises first bar, second bar and the 3rd bar, steering wheel is installed on the car body chassis, the attachment point circumference that first bar is installed on the car body chassis and on the car body chassis moves, the 3rd bar is installed on the steering wheel and is that fulcrum moves around steering wheel surface circumference with the steering wheel, second bar connects first bar and the 3rd bar, between first bar and the 3rd bar, angle is installed in the both sides of first bar, and wheel is installed in the below on car body chassis.
Connecting rod steering mechanism of the present invention can also comprise:
Described car body chassis is a quadrilateral structure, and it is spacing that wheel, steering wheel, bearing, bar and angle are installed by place, tetragonal four angles.
Advantage of the present invention is: the present invention is simple in structure, can greatly reduce the turn radius of car body, provides power to solve power on problem in returning of steering hardware by using steering wheel.
Description of drawings
Fig. 1 is a structural representation of the present invention;
Fig. 2 is a birds-eye view of the present invention;
Fig. 3 is a front elevation of the present invention.
The specific embodiment
For example the present invention is done description in more detail below in conjunction with accompanying drawing:
In conjunction with Fig. 1～3, the double rocker mechanism in bar 4, bar 5, bar 6 and car body chassis 1 (as frame) formation four-bar linkage is realized turning to of robot.Angle spacing 3 is according to needed minimum radius design-calculated in the robot ride process, is used for the hunting range of limiting lever 4.Steering wheel 7 is installed on the car body chassis 1 by steering wheel mount pad 8, for steering hardware provides power.Bearing arrangement 12 guarantees the rotation precision of wheel frame axle 9 and reduces its rotary resistance.Wheel shaft 9 is by being connected to wheel 10 propulsive efforts that provide forward with other driving device.Wheel 10 is installed on the wheel carrier 11 by wheel shaft 9.
After robot powers on, during steering wheel 7 is returned, drive simultaneously during steering hardware returns, this hour wheel 10 is towards the dead ahead.When robot need turn to, control system transmitted control signal to steering wheel 7, made its rotating certain angle.This moment, bar 6 was followed the same angle of rudder angle swing, thereby drove the certain angle of bar 4 swings.This hour wheel 10 is rotated identical angle with wheel frame axle 2 with bar 4, and steering procedure is finished.In this process, two steering wheels of two steering wheels in front and back can rotate identical angle or opposite angle, realize that with this robot is to oblique the place ahead straight-line motion or turning.Because the angle that each steering hardware rotates in practice is less, in this scope, the angle variation relation of bar 3 and bar 6 can be regarded as linear, promptly the length with two bars is inversely proportional to.
The invention solves the technical scheme that its technical matters adopts:
Adopt the double rocker mechanism in the four-bar linkage to realize turning to, in design, be effort-saving mechanism by the length of determining each bar.Because robot is a four-wheel steering, so taking turns, each need the maximum angle of commentaries on classics little, in this slewing area, the angle variation relation between bar 4 and the bar 6 can be thought linear.Adopt steering wheel to provide power simultaneously for steering hardware.Steering wheel is a kind of actuator of position servo, is applicable to the control system that those need angle constantly to change and can keep.Because steering wheel has the characteristic that powers in returning, thus in returning during the initial condition after steering hardware powers on forward.
Claims (2)
1. connecting rod steering mechanism, comprise car body chassis, bar and wheel, it is characterized in that: comprise that also steering wheel and angle are spacing, bar comprises first bar, second bar and the 3rd bar, steering wheel is installed on the car body chassis, the attachment point circumference that first bar is installed on the car body chassis and on the car body chassis moves, the 3rd bar is installed on the steering wheel and is that fulcrum moves around steering wheel surface circumference with the steering wheel, second bar connects first bar and the 3rd bar, between first bar and the 3rd bar, angle is installed in the both sides of first bar, and wheel is installed in the below on car body chassis.
2. connecting rod steering mechanism according to claim 1 is characterized in that: described car body chassis is a quadrilateral structure, and it is spacing that wheel, steering wheel, bearing, bar and angle are installed by place, tetragonal four angles.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010179661 CN101830248A (en) | 2010-05-24 | 2010-05-24 | Connecting rod steering mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010179661 CN101830248A (en) | 2010-05-24 | 2010-05-24 | Connecting rod steering mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101830248A true CN101830248A (en) | 2010-09-15 |
Family
ID=42714504
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201010179661 Pending CN101830248A (en) | 2010-05-24 | 2010-05-24 | Connecting rod steering mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101830248A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107161215A (en) * | 2017-06-05 | 2017-09-15 | 山东鲁虹农业科技股份有限公司 | A kind of agricultural vehicle front-wheel steering wheel steering |
| CN112428280A (en) * | 2020-05-08 | 2021-03-02 | 北京理工大学 | Dangerous gas inspection robot system |
| CN112896367A (en) * | 2021-03-31 | 2021-06-04 | 华南理工大学 | Robot chassis capable of being switched between steering wheel and universal wheel |
| CN114872788A (en) * | 2022-04-08 | 2022-08-09 | 江苏大学 | Mobile chassis, control method thereof and mobile robot |
| CN116766266A (en) * | 2023-08-17 | 2023-09-19 | 北京中勘迈普科技有限公司 | Industrial park and indoor intelligent 3D laser scanning robot |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3198541A (en) * | 1962-06-18 | 1965-08-03 | Clark Equipment Co | Universal steering apparatus |
| CN1403312A (en) * | 2001-09-11 | 2003-03-19 | 现代自动车株式会社 | Suspension mechanism utilizing steering gear bogie |
| CN201077511Y (en) * | 2007-06-20 | 2008-06-25 | 楼攀登 | Turning traction mechanism |
-
2010
- 2010-05-24 CN CN 201010179661 patent/CN101830248A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3198541A (en) * | 1962-06-18 | 1965-08-03 | Clark Equipment Co | Universal steering apparatus |
| CN1403312A (en) * | 2001-09-11 | 2003-03-19 | 现代自动车株式会社 | Suspension mechanism utilizing steering gear bogie |
| CN201077511Y (en) * | 2007-06-20 | 2008-06-25 | 楼攀登 | Turning traction mechanism |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107161215A (en) * | 2017-06-05 | 2017-09-15 | 山东鲁虹农业科技股份有限公司 | A kind of agricultural vehicle front-wheel steering wheel steering |
| CN112428280A (en) * | 2020-05-08 | 2021-03-02 | 北京理工大学 | Dangerous gas inspection robot system |
| CN112896367A (en) * | 2021-03-31 | 2021-06-04 | 华南理工大学 | Robot chassis capable of being switched between steering wheel and universal wheel |
| CN112896367B (en) * | 2021-03-31 | 2024-04-09 | 华南理工大学 | Robot chassis capable of being switched between steering wheel and universal wheel |
| CN114872788A (en) * | 2022-04-08 | 2022-08-09 | 江苏大学 | Mobile chassis, control method thereof and mobile robot |
| CN114872788B (en) * | 2022-04-08 | 2023-12-05 | 江苏大学 | Mobile chassis, control method thereof and mobile robot |
| CN116766266A (en) * | 2023-08-17 | 2023-09-19 | 北京中勘迈普科技有限公司 | Industrial park and indoor intelligent 3D laser scanning robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Open date: 20100915 |