CN104149851B - A kind of steering of flexible wheel base vehicle - Google Patents
A kind of steering of flexible wheel base vehicle Download PDFInfo
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- CN104149851B CN104149851B CN201410414442.0A CN201410414442A CN104149851B CN 104149851 B CN104149851 B CN 104149851B CN 201410414442 A CN201410414442 A CN 201410414442A CN 104149851 B CN104149851 B CN 104149851B
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Abstract
The present invention relates to the steering of a kind of flexible wheel base vehicle, including drive axle, cross-drive bridge, vehicle main car frame, steering unit and steering linkage；Center hinge connection mechanism is constituted between described drive axle and cross-drive bridge and vehicle main car frame, described drive axle and cross-drive bridge are installed on vehicle frame stub axle, described vehicle frame stub axle is a quill shaft, steering power arm main shaft connects through vehicle frame stub axle and steering gear, and described steering unit and steering linkage are arranged on drive axle or cross-drive bridge；Described steering linkage and steering unit coordinate to be installed；The present invention utilizes structural layout characteristics and the changeable wheel track characteristic thereof of intersection vehicle bridge, Ackermam ackerman steering is designed as an independent steering unit, by a series of linkages, realize turning to of vehicle, change its steering characteristic by changing the structural parameters of above-mentioned steering unit, when meeting all wheelspans, turn to requirement.
Description
Technical field
The present invention relates to the steering of a kind of flexible wheel base vehicle, be the mechanical type steering of the agricultural vehicle chassis of the adjustable tread of intersection arrangement form particularly to a kind of drive axle, belong to Vehicular turn and control technical field.
Background technology
It is known that vehicle travel process needs turn to；During Vehicular turn, to make each wheel all only roll in theory not slide, each wheel have to be around same central point O and rolls, namely deflecting roller deflection angle meets Ackermann steering principle, namely the cotangent value of the deflection angle of outside steered wheel adds ratio (cot α=cot β+b/l, α, β respectively outer, inboard wheel deflection angle in formula of wheelspan and wheelbase equal to the cotangent value of the deflection angle of inner side steered wheel；B is the distance between both sides stub extended line and ground intersection point；L is wheelbase).For general vehicle, its wheelspan and wheelbase are substantially changeless, so its steering mechanism and steering characteristic are changeless, need not adjust and change in use procedure；And in some cases, the wheelspan requiring working truck often adjusts change to meet job requirements, such as the vehicle of the field management machinery equalization such as crops weeding, fertilising and spray medicine, require its vehicle chassis along crop row from walking and with crop row from change and change wheelspan, for above-mentioned flexible wheel base vehicle, the change of wheelspan makes the relation between turn around parameters change, therefore it is required that the parameter of steering mechanism and steering characteristic change therewith, to ensure that the moment meets Ackermann steering principle.
At present, the predominantly organic tool formula of steering of vehicle, fluid pressure type, electro-hydraulic formula and electronic control type, compare other kinds of steering, mechanical type steering has that cost is low, efficiency is high, road feel is good and high reliability, so domestic common vehicle, agri-vehicle etc. generally all adopt the mechanical-type steering engine structure based on Ackermam ackerman steering.Owing to the length of each connecting rod of Ackermam ackerman steering is changeless, its steering characteristic is also unmodifiable, and therefore, what mechanical type steering domestic at present generally can not meet flexible wheel base vehicle turns to requirement.Steering for flexible wheel base vehicle, research both at home and abroad and application at present focuses mostly in wheel independent steering, adopt SERVO CONTROL, hydraulic-driven steered wheel to meet Ackermann steering condition, or directly adopt Serve Motor Control wheel to deflect to meet Ackermann steering condition.
Accordingly, it would be desirable to a kind of steering, meeting on the basis turning to requirement of flexible wheel base vehicle, adopting the mechanical-type steering engine structure based on Ackermam ackerman steering forward method.
Summary of the invention
It is an object of the invention to overcome above-mentioned deficiency, the steering of a kind of flexible wheel base vehicle is provided, utilize the layout feature of intersection vehicle bridge, Ackermam ackerman steering is designed as an independent steering unit, it is provided separately within a vehicle bridge, by a series of linkages, it is achieved turning to of vehicle, change its steering characteristic by changing the structural parameters of above-mentioned steering unit, when meeting all wheelspans, turn to requirement.
Realize the technical measures of above-mentioned purpose: include drive axle and cross-drive bridge, and for installing the vehicle main car frame of drive axle and cross-drive bridge；Described steering also includes steering unit and steering linkage；Described drive axle and cross-drive bridge are hinged in respective point midway and form OC point；Described OC point is positioned on vehicle main car frame, drive axle and between cross-drive bridge and vehicle main car frame constitute center hinge connection mechanism；
Described center hinge connection mechanism includes vehicle frame stub axle, steering power arm main shaft and steering gear；
Described drive axle and cross-drive bridge are installed on vehicle frame stub axle, and described vehicle frame stub axle is a quill shaft, and steering power arm main shaft connects through vehicle frame stub axle and steering gear；
Described steering unit and steering linkage are arranged on drive axle or cross-drive bridge；
Described steering unit by proceed to joint arm, proceed to tie rod arm, track rod, produce tie rod arm and produce joint arm constitute；
Described steering linkage includes steering power arm, left side pull bar, commutation rocking arm, left side drive rod, right side pull bar, right side drive rod, trailing wheel stabilizing arm, right stabilizer bar, left stabilizer bar, stabiliser bar, knuckle arm, steering trapezoidal arm, rear left wheel pivoted arm, right rear wheel pivoted arm, front left wheel pivoted arm and right front wheel pivoted arm；
Described steering power arm one end is articulated with OC point, and the other end is connected with the steering gear being fixed on vehicle main car frame, is hinged by pitman pin with left side pull bar and right side pull bar simultaneously；
Being welded with pivoted arm bearing pin on described cross-drive bridge, pad forms E point；
The described left side pull bar other end is hinged with one end of commutation rocking arm；The centrepin axis hole of commutation rocking arm, through pivoted arm bearing pin, forms articulated structure with cross-drive bridge, and the other end is hinged with left side drive rod；The left side drive rod other end is hinged with front left wheel pivoted arm, the axis hole of the central shaft traverse intersection left front end of vehicle bridge of front left wheel pivoted arm, form articulated structure, front left wheel pivoted arm lower end is equipped with front left wheel, right front wheel pivoted arm lower end is equipped with right front wheel, rear left wheel pivoted arm lower end is equipped with rear left wheel, and right rear wheel pivoted arm lower end is equipped with right rear wheel.
The described right side pull bar other end is hinged with the joint arm that proceeds in steering unit, and drive rod one end, right side is hinged with the joint arm that produces in steering unit, and the other end and right front wheel pivoted arm are hinged.
Further, described vehicle frame stub axle is a hollow axle, is fixed on vehicle main car frame, and the main shaft of steering power arm is through vehicle frame stub axle, and the other end is connected with the steering gear being fixed on vehicle main car frame.
Further, described knuckle arm is connected to and proceeds to joint arm and produce between joint arm, and steering trapezoidal arm is connected to and proceeds to tie rod arm and produce between tie rod arm, and track rod is connected to servo electric jar；Near the position of pivoted arm bearing pin equipped with shaft gear on knuckle arm, shaft gear engages with the gear wheel on steering trapezoidal arm；Knuckle arm top is installed with turbine and worm motor, and turbine and worm motor is connected with shaft gear by shaft coupling；Servo electric jar two ends respectively with proceed to tie rod arm and produce tie rod arm and be hinged.
Further, described steering trapezoidal arm one end includes a gear wheel, and gear, through pivoted arm bearing pin, gear welds a connecting rod, is monolithically fabricated a tie rod arm.
Further, described trailing wheel stabilizing arm one end is articulated with OC point, and the other end is hinged with right stabilizer bar and left stabilizer bar simultaneously；The left stabilizer bar other end and rear left wheel pivoted arm are hinged；The right stabilizer bar other end and a commutation one end are hinged, and the central point of described commutation rocking arm is articulated with on drive axle, and pin joint place has been welded pivoted arm bearing pin；The described commutation rocking arm other end and stabiliser bar are hinged；The stabiliser bar other end and right rear wheel pivoted arm are hinged.
A kind of forward method of flexible wheel base vehicle, including following feature:
(1) driver turn steering wheel, steering wheel drives steering gear work, drives steering power arm to rotate, thus driving whole steering to work simultaneously；
(2) after vehicle chassis wheelspan changes, angle theta between drive axle and cross-drive bridge changes, the steering control system value according to angle theta, calculate the trapezoidal base angle γ of optimum and the length n value of track rod, and then draw the angle δ proceeding to joint arm and proceeding between tie rod arm, and produce joint arm and the included angle X producing between tie rod arm, simultaneously by two turbine and worm motors of servo system control and servo-electric cylinder working, steering unit is made to reach intended structural parameters, it is achieved to meet the steering characteristic of this wheelspan condition.
The beneficial effects of the present invention is: 1, utilize the mechanical type that Ackermam ackerman steering principle achieves flexible wheel base vehicle to turn to；2, by changing the structural parameters of steering unit, it is achieved that front-wheel steer when all wheelspans；3, for the single wheelspan condition determined, only servo-control system need to being utilized once to change the structural parameters of steering unit, any when can meet this wheelspan turns to requirement.
Accompanying drawing explanation
Fig. 1 is the steering mechanism principle figure of the present invention；
Fig. 2 is the steering unit mechanism principle figure of the present invention；
Fig. 3 is the steering system structural schematic diagram of the present invention；
Fig. 4 is the center hinge connection mechanism structural representation of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing, the preferred embodiment of invention is described in detail, so that the advantage of invention and feature can be easier to be readily appreciated by one skilled in the art, thus the protection domain of invention is made apparent clear and definite defining.
Flexible wheel base steering of the present invention mainly steering unit 10 and a series of linkage by a variable element forms, steering unit 10 follows Ackermam ackerman steering geometrical principle, and parallelogram linkage geometrical principle followed by other a series of linkages.
Being illustrated in figure 1 the steering mechanism principle figure of the present invention, drive axle 1 and cross-drive bridge 2 to be hinged in OC point with respective point midway, OC point is positioned on vehicle main car frame 25.According to geometrical principle, changing the angle theta between said two drive axle, wheelspan b, wheelbase 1 all can change, and namely increase angle theta, and wheelspan b increases, wheelbase l reduces；Otherwise, reduction angle theta, wheelspan b reduce, wheelbase 1 increases, and has been achieved in that the flexible wheel base characteristic of vehicle chassis.
As shown in Figure 1, Figure 2, Figure 3 and Figure 4, steering power arm 5 one end is articulated with OC point, can rotate freely around vehicle frame stub axle 251 relative to vehicle main car frame 25, vehicle frame stub axle 251 is a hollow axle, being fixed on vehicle main car frame 25, the main shaft 501 of steering power arm 5 is through vehicle frame stub axle 251, and the other end is connected with the steering gear 502 being fixed on vehicle main car frame 25, vehicle steering rotates and drives steering gear 502 to rotate, and then drives steering power arm 5 to rotate；Steering power arm 5 other end is hinged by pitman pin 24 with left side pull bar 6 and right side pull bar 9 simultaneously.
Left side pull bar 6 other end is hinged with one end of commutation rocking arm 7；On cross-drive bridge 2, E spot welding is equipped with pivoted arm bearing pin 26, and the centrepin axis hole of commutation rocking arm 7, through pivoted arm bearing pin 26, forms articulated structure with cross-drive bridge, and the other end and left side drive rod 8 one end are hinged；Left side drive rod 8 other end is hinged with front left wheel pivoted arm 301, the axis hole of the central shaft traverse intersection left front end of vehicle bridge 2 of front left wheel pivoted arm 301, with formation articulated structure, front left wheel pivoted arm 301 lower end is equipped with front left wheel 3, namely front left wheel pivoted arm 301 rotates and can directly drive front left wheel 3 to deflect, realize wheel steering, in like manner, right front wheel pivoted arm 401 drives right front wheel 4 to turn to, rear left wheel pivoted arm 161 drives rear left wheel 16 to turn to, and right rear wheel pivoted arm 171 drives right rear wheel 17 to turn to.According to geometrical principle, steering power arm 5 drives left side pull bar 6 translation when OC point rotates, pulls left side drive rod 8 translation through commutation rocking arm 7, thus driving front left wheel pivoted arm 301 to rotate, it is achieved front left wheel 3 turns under lever principle effect.According to geometrical relationship, arranging each rotatory force arm lengths equal, can realize the same phase of steering power arm 5 and front left wheel 3, turn to angle, namely both corners are equal, turn to identical.
As in figure 2 it is shown, right side pull bar 9 other end is hinged with the joint arm 101 that proceeds in steering unit 10, right side drive rod 11 one end is hinged with the joint arm 105 that produces in steering unit 10, and the other end and right front wheel pivoted arm 401 are hinged.According to geometrical principle, steering power arm 5 drives right side pull bar 9 translation when OC point rotates, thus driving the joint arm 101 that proceeds in steering unit 10 to rotate, to turn to corner with same phase, with the incoming steering unit 10 of angular way, diverted unit 10 is according to after Ackermam ackerman steering geometrical principle translation-angle, suitable corner is spread out of by the joint arm 105 that produces in steering unit 10, drive right side drive rod 11 translation, thus driving right front wheel pivoted arm 401 to rotate, it is achieved turning to of off-front wheel 4.Due to the incoming angle of steering unit 10 with spread out of angle and be in compliance with Ackermann steering principle, so the deflection angle of front left wheel 3 and right front wheel 4 is consistent with Vehicular turn condition, then complete the front-wheel steer of vehicle.
According to Vehicular turn principle, when no matter being vehicle craspedodrome or front-wheel steer, two trailing wheel relative frame main bodys are all without deflecting, and namely the rotating direction of trailing wheel is paralleled with the direction of advance of vehicle all the time.In this example, when being also required to ensure any wheelspan when front-wheel steer, the rotating direction of two trailing wheels is paralleled with the direction of advance of vehicle all the time, and namely any deflection does not occur two trailing wheels.
As it is shown in figure 1, trailing wheel stabilizing arm 12 one end is articulated with OC point, the other end is hinged with right stabilizer bar 13 and left stabilizer bar 14 simultaneously；Left stabilizer bar 14 other end and rear left wheel pivoted arm 161 are hinged；Right stabilizer bar 13 other end and commutation rocking arm 7 one end are hinged, and the central point of described commutation rocking arm 7 is articulated with on drive axle 1 F point, and on drive axle 1, F point place has been welded pivoted arm bearing pin；Described commutation rocking arm 7 other end and stabiliser bar 15 are hinged；Stabiliser bar 15 other end and right rear wheel pivoted arm 171 are hinged.Here the pointing direction of trailing wheel stabilizing arm 12 is controlled, by modes such as mechanical position limitations, itself and vehicle main car frame 25 are fixed, namely its pointing direction is controlled vertical with vehicle lengthwise direction all the time, according to theory of mechanics, being limited by trailing wheel stabilizing arm 12 completely with the rotational freedom of drive axle pin joint around it of two trailing wheels, namely no matter how wheelspan changes, and two trailing wheels will not deflect all the time, and the moment meets keeps straight on and turns to requirement.
As shown in Figure 3, in steering example structure, the implementation of trailing wheel stabilizing arm 12 is that directly on vehicle main car frame 25, defined location is welded trailing wheel regulator 121, and top, described trailing wheel regulator 121 has been welded pitman pin, is responsible for connecting right stabilizer bar 13 and left stabilizer bar 14.
Steering unit 10 is the core component of this steering, and it follows Ackermam ackerman steering geometrical principle, it is possible to by changing its part-structure parameter change steering characteristic, turns to requirement to meet in multiple situation.
As shown in Figure 2, proceed to joint arm 101 and proceed to the C point that tie rod arm 102 is articulated with on drive axle 1 simultaneously, producing tie rod arm 104 and produce the D point that joint arm 105 is articulated with on drive axle 1 simultaneously, on drive axle 1, C point and D point place have all been welded pivoted arm bearing pin, and the air line distance between C point and D point is designated as k；The length proceeding to tie rod arm 102 and produce tie rod arm 104 is equal, is designated as m；In the design, for simplifying structure to the full extent, k and m is arranged via the constant value of optimization；Track rod 103 two ends respectively with proceed to tie rod arm 102 and to produce the vacant end of tie rod arm 104 hinged, in the design, track rod 103 is an adjustable length element, it can be the mechanical organ of the variable-length such as hydraulic cylinder, electric cylinder, its feature is that length n can pass through servo system control, has latching characteristics and enough rigidity simultaneously；Proceed to joint arm 101 and the angle proceeded between tie rod arm 102 is designated as δ, produce joint arm 105 and the angle produced between tie rod arm 104 is designated as λ, the two angle is variable, namely additional mechanical mechanism can be passed through, such as worm-and-wheel gear or gear mechanism, quantitatively changed above-mentioned two angle value by servosystem, and reach locking mechanism after desired value, ensure that angle value does not change in steering procedure, so ensure steering turn to precision.According to Ackermam ackerman steering geometrical principle, the length m and trapezoidal base angle γ of tie rod arm determine the steering characteristic of steering mechanism, therefore, for the wheelspan condition determined and steering mode (front-wheel steer or four-wheel steering), the optimal value of the length m and trapezoidal base angle γ of tie rod arm determines that.According to practical situation, in the design, the length of the tie rod arm of steering unit determines that constant, namely m value is to calculate definite value really through optimization, the steering characteristic of steering unit 10 is controlled by the length n of trapezoidal base angle γ and track rod 103, namely the length n of track rod 103 is changed, trapezoidal base angle γ changes therewith so that the steering characteristic of steering unit 10 changes, to adapt to turn to requirement.According to walking requirement, when vehicle is kept straight on, each wheel should be that relative vehicle main car frame 25 does not deflect, and namely wheel is all the time towards direction of advance, according to geometrical relationship, arranges following angular relationship here: δ=3 pi/2-θ/2-γ, λ=pi/2-θ/2+ γ；Can be seen that, proceed to joint arm 101 and the angle δ proceeded between tie rod arm 102, and produce joint arm 104 and the included angle X produced between tie rod arm 105, control by the angle theta between drive axle and trapezoidal base angle γ, and under the wheelspan condition determined and steering mode, the numerical value of θ and γ also determines that, therefore, wheelspan b and steering mode determine the systematic parameter of whole steering unit.
In steering example structure as shown in Figure 3, proceeding to joint arm 101 and produce joint arm 105 and realized by knuckle arm 18, proceed to tie rod arm 102 and produce tie rod arm 104 and realized by steering trapezoidal arm 19, track rod 103 is realized by servo electric jar 20；Steering trapezoidal arm 19 one end is a gear wheel, and gear, through pivoted arm bearing pin, gear welds a connecting rod, is monolithically fabricated a tie rod arm；Near the position of pivoted arm bearing pin equipped with shaft gear 23 on knuckle arm 18, shaft gear 23 engages with the gear wheel on steering trapezoidal arm 19, the rotation of gear shaft 23 drives steering trapezoidal arm 19 to rotate, thus changing the size of angle between knuckle arm 18 and steering trapezoidal arm 19；Knuckle arm top is installed with turbine and worm motor 21, and turbine and worm motor 21 is coupled with shaft gear 23 by shaft coupling 22, drives shaft gear 23 to rotate；Servo electric jar 20 two ends respectively with proceed to tie rod arm and produce tie rod arm and be hinged, utilize servo programe can control the flexible of servo electric jar, thus changing its length value.
The forward method of flexible wheel base vehicle: after vehicle chassis wheelspan changes, angle theta between two drive axles changes, for the wheelspan condition determined, the numerical value of this angle theta determines that, steering control system is according to this angle theta value, calculate the trapezoidal base angle γ of optimum and the length n value of track rod 103, and then draw the angle δ proceeding to joint arm 101 and proceeding between tie rod arm 102, and produce joint arm 104 and the included angle X produced between tie rod arm 105, worked by two turbine and worm motors 21 of servo system control and servo electric jar 20, steering unit 10 is made to reach intended structural parameters, realize meeting the steering characteristic of this wheelspan condition；Because turbine and worm motor and servo electric jar are respectively provided with good latching characteristics, therefore when wheelspan is constant, the structural parameters of steering unit 10 almost do not change, and maintain these structural parameters and need not control system intervention, thus what ensure that steering turns to precision and reliability.When vehicle needs to turn to, driver turn steering wheel, steering wheel drives steering gear 502 to work, and driving steering power arm 5 to rotate, thus driving whole steering to work, completing Vehicular turn.
Above example, simply invents more preferably one of detailed description of the invention, and the those skilled in the art's usual variations and alternatives in the aspects of invention all should be included in the protection domain of invention.
Claims (5)
1. a steering for flexible wheel base vehicle, including drive axle and cross-drive bridge, and for installing the vehicle main car frame of drive axle and cross-drive bridge, described steering also includes steering unit and steering linkage；It is characterized in that: described drive axle and cross-drive bridge are hinged in respective point midway and form OC point；Described OC point is positioned on vehicle main car frame, drive axle and between cross-drive bridge and vehicle main car frame constitute center hinge connection mechanism；
Described center hinge connection mechanism includes vehicle frame stub axle, steering power arm main shaft and steering gear；
Described drive axle and cross-drive bridge are installed on vehicle frame stub axle, and described vehicle frame stub axle is a quill shaft, and steering power arm main shaft connects through vehicle frame stub axle and steering gear；
Described steering unit and steering linkage are arranged on drive axle or cross-drive bridge；
Described steering unit by proceed to joint arm, proceed to tie rod arm, track rod, produce tie rod arm and produce joint arm constitute；
Described steering linkage includes steering power arm, left side pull bar, commutation rocking arm, left side drive rod, right side pull bar, right side drive rod, trailing wheel stabilizing arm, right stabilizer bar, left stabilizer bar, stabiliser bar, knuckle arm, steering trapezoidal arm, rear left wheel pivoted arm, right rear wheel pivoted arm, front left wheel pivoted arm and right front wheel pivoted arm；
Described steering power arm one end is articulated with OC point, and the other end is connected with the steering gear being fixed on vehicle main car frame, is hinged by pitman pin with left side pull bar and right side pull bar simultaneously；
Being welded with pivoted arm bearing pin on described cross-drive bridge, pad forms E point；
The described left side pull bar other end is hinged with one end of commutation rocking arm；The centrepin axis hole of commutation rocking arm, through pivoted arm bearing pin, forms articulated structure with cross-drive bridge, and the other end is hinged with left side drive rod；The left side drive rod other end is hinged with front left wheel pivoted arm, the axis hole of the central shaft traverse intersection left front end of vehicle bridge of front left wheel pivoted arm, form articulated structure, front left wheel pivoted arm lower end is equipped with front left wheel, right front wheel pivoted arm lower end is equipped with right front wheel, rear left wheel pivoted arm lower end is equipped with rear left wheel, and right rear wheel pivoted arm lower end is equipped with right rear wheel；
The described right side pull bar other end is hinged with the joint arm that proceeds in steering unit, and drive rod one end, right side is hinged with the joint arm that produces in steering unit, and the other end and right front wheel pivoted arm are hinged；
When driver turn steering wheel, steering wheel drives steering gear work, drives steering power arm to rotate, thus driving whole steering to work simultaneously；
After vehicle chassis wheelspan changes, angle theta between drive axle and cross-drive bridge changes, the steering control system value according to angle theta, calculate the trapezoidal base angle γ of optimum and the length n value of track rod, and then draw the angle δ proceeding to joint arm and proceeding between tie rod arm, and produce joint arm and the included angle X producing between tie rod arm, simultaneously by two turbine and worm motors of servo system control and servo-electric cylinder working, steering unit is made to reach intended structural parameters, it is achieved to meet the steering characteristic of this wheelspan condition.
2. the steering of a kind of flexible wheel base vehicle as claimed in claim 1, it is characterized in that: described vehicle frame stub axle is a hollow axle, being fixed on vehicle main car frame, the main shaft of steering power arm is through vehicle frame stub axle, and the other end is connected with the steering gear being fixed on vehicle main car frame.
3. the steering of a kind of flexible wheel base vehicle as claimed in claim 1, it is characterized in that: described knuckle arm is connected to and proceeds to joint arm and produce between joint arm, steering trapezoidal arm is connected to and proceeds to tie rod arm and produce between tie rod arm, and track rod is connected to servo electric jar；Near the position of pivoted arm bearing pin equipped with shaft gear on knuckle arm, shaft gear engages with the gear wheel on steering trapezoidal arm；Knuckle arm top is installed with turbine and worm motor, and turbine and worm motor is connected with shaft gear by shaft coupling；Servo electric jar two ends respectively with proceed to tie rod arm and produce tie rod arm and be hinged.
4. the steering of a kind of flexible wheel base vehicle as claimed in claim 1, it is characterised in that: described steering trapezoidal arm one end includes a gear wheel, and gear, through pivoted arm bearing pin, gear welds a connecting rod, is monolithically fabricated a tie rod arm.
5. the steering of a kind of flexible wheel base vehicle as claimed in claim 1, it is characterised in that: described trailing wheel stabilizing arm one end is articulated with OC point, and the other end is hinged with right stabilizer bar and left stabilizer bar simultaneously；The left stabilizer bar other end and rear left wheel pivoted arm are hinged；The right stabilizer bar other end and a commutation one end are hinged, and the central point of described commutation rocking arm is articulated with on drive axle, and pin joint place has been welded pivoted arm bearing pin；The described commutation rocking arm other end and stabiliser bar are hinged；The stabiliser bar other end and right rear wheel pivoted arm are hinged.
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| CN201410414442.0A CN104149851B (en) | 2014-08-22 | 2014-08-22 | A kind of steering of flexible wheel base vehicle |
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| CN201410414442.0A CN104149851B (en) | 2014-08-22 | 2014-08-22 | A kind of steering of flexible wheel base vehicle |
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| CN104149851B true CN104149851B (en) | 2016-07-06 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| FR2844245B1 (en) * | 2002-09-10 | 2005-04-29 | Jean Marie Obry | UNIVERSAL VEHICLE FOR ROAD TRANSPORT, WANDAGE AND GROUND GUARD VARIABLES |
| EP1426203B1 (en) * | 2002-12-03 | 2006-05-10 | Ford Global Technologies, Inc. | Suspension arrangement, steering linkage arrangement and method for providing variable wheel track |
| US8353377B2 (en) * | 2009-10-06 | 2013-01-15 | Deere & Company | Steering cylinder mounting arrangement used with a length-adjustable axle |
| EP2388153B1 (en) * | 2010-05-17 | 2012-08-22 | Jaxa Networks | A vehicle having variable track |
| CN103465962B (en) * | 2013-09-03 | 2015-08-12 | 中国农业大学 | Car gage adjustment linkage steering mechanism |
| CN204055962U (en) * | 2014-08-22 | 2014-12-31 | 青岛理工大学 | A kind of steering swivel system of flexible wheel base vehicle |
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Effective date of registration: 20220228 Address after: 266000 a2-405-1, No. 127, huizhiqiao Road, high tech Zone, Qingdao, Shandong Patentee after: Qingdao Jingyu Intelligent Technology Co.,Ltd. Address before: 266100 No. 11 Fushun Road, North District, Qingdao City, Shandong Province Patentee before: QINGDAO TECHNOLOGICAL University |
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