CN106004998A - Four-wheel in-situ steering mechanism and four-wheel in-situ steering trolley - Google Patents
Four-wheel in-situ steering mechanism and four-wheel in-situ steering trolley Download PDFInfo
- Publication number
- CN106004998A CN106004998A CN201610501769.0A CN201610501769A CN106004998A CN 106004998 A CN106004998 A CN 106004998A CN 201610501769 A CN201610501769 A CN 201610501769A CN 106004998 A CN106004998 A CN 106004998A
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- CN
- China
- Prior art keywords
- wheel
- steering
- pivot stud
- track plates
- crank
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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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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
- B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
- B62D7/142—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering specially adapted for particular vehicles, e.g. tractors, carts, earth-moving vehicles, trucks
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
Abstract
The invention relates to a four-wheel in-situ steering mechanism and a four-wheel in-situ steering trolley. Wheels (8) are in rigid connection with vertical rotating shafts (6) and arranged on the lower surface of a rail plate (1) through the vertical rotating shafts (6); a steering connection rod mechanism drives the vertical rotating shafts (6) to rotate by 90 degrees so as to drive the wheels (8) to conduct in-situ steering for 90 degrees. The steering connection rod mechanism comprises steering cranks (2), connection rods (3), a middle crank (4), a drive shaft (5) and steering rods (7); the lower end of the drive shaft (5) penetrates through the center of the rail plate (1) to be connected with a motor, the upper end of the drive shaft (5) is in rigid connection with the middle of the middle crank (4), the two ends of the middle crank (4) are each hinged to the corresponding connection rod (3); the other end of each connection rod (3) is hinged to two symmetrical steering cranks (2), the other ends of the steering cranks (2) are hinged to the free ends of the corresponding steering rods (7), and the other end of each steering rod is in rigid connection with the upper end of the corresponding vertical rotating shaft (6).
Description
Technical field
The invention belongs to travelling bogie technical field, be specifically related to a kind of four-wheel pivot stud mechanism and four-wheel pivot stud dolly.
Background technology
The transport of factory position warehouse goods is ingredient important in Product processing and sales process.Its efficiency directly affects production cost and the production efficiency of product.At present, in warehouse goods to fetch and deliver efficiency low, most of depot road spaces are the narrowest and small.Therefore, a kind of pivot stud car being applicable to the narrow and small working environment of factory position warehouse to be designed according to factory position warehouse environment and requirement.
Summary of the invention
The present invention devises a kind of four-wheel pivot stud mechanism and four-wheel pivot stud dolly, the problem which solving narrow and small workshop dolly how pivot stud.This mechanism can realize four-wheel pivot stud, requires less to spatial dimension.
In order to solve the technical problem of above-mentioned existence, present invention employs below scheme:
A kind of four-wheel pivot stud mechanism, including four wheels (8), it is characterized in that: also include track plates (1) and steering linkage, wheel (8) is rigidly connected with corresponding vertical rotation axis (6) and passes through vertical rotation axis (6) and is arranged on track plates (1) lower surface, and steering linkage is arranged on track plates (1) upper surface；Steering linkage drives vertical rotation axis (6) 90-degree rotation thus band motor car wheel (8) pivot stud 90 degree.
Further, steering linkage includes steering crank (2), connecting rod (3), center crank (4), drive shaft (5) and turning-bar (7)；Drive shaft (5) lower end is connected through track plates (1) center with motor, and drive shaft (5) upper end is rigidly connected with center crank (4) middle part, and center crank (4) two ends are hinged with a connecting rod (3) respectively;The other end and two symmetrically arranged steering cranks (2) of connecting rod (3) are hinged, and the other end of steering crank (2) is hinged with the free end of corresponding turning-bar (7), and turning-bar (7) other end is rigidly connected with corresponding vertical rotation axis (6) upper end.
Further, track plates (1) upper surface corner is respectively arranged with 1/4 circular groove (13), and the free end of turning-bar (7) can be along corresponding 1/4 circular groove (13) motion.
Further, track plates (1) two ends, left and right are respectively arranged with a straight trough (11), and connecting rod (3) one end hinged with steering crank (2) can be along track plates (1) the most corresponding upper straight trough (11) motion.
Further, being a round circular orbit in the middle of track plates (1), drive shaft (5) is arranged on round circular orbit center, can move along round circular orbit in the two ends of center crank (4).
Further, round circular orbit is annular groove (12).
Further, drive shaft (5) lower end is connected with motor by shaft coupling.
Further, motor is motor (10).
Further, wheel (8) is rigidly connected with corresponding vertical rotation axis (6) lower end by wheel carrier (9).
A kind of four-wheel pivot stud dolly, including any of the above-described described four-wheel pivot stud mechanism.
This four-wheel pivot stud mechanism and four-wheel pivot stud dolly have the advantages that
(1) present invention can realize pivot stud in small space, requires less to spatial dimension, uses flexibly, practical.
(2) present invention applies linkage, compact conformation, low cost of manufacture cleverly, is suitable to promote.
(3) present invention is provided with annular groove, straight trough and 1/4 circular groove, constraint spacing corresponding movement parts on track plates, and work is the most reliable.
Accompanying drawing explanation
Fig. 1: the structural representation (state 1) of four-wheel of the present invention pivot stud mechanism；
Fig. 2: the structural representation (state 2) of four-wheel of the present invention pivot stud mechanism；
Fig. 3: the attachment structure schematic diagram of wheel in the present invention；
Fig. 4: the polycrystalline substance schematic diagram of four-wheel of the present invention pivot stud mechanism.
Description of reference numerals:
1 track plates；11 straight troughs；12 annular grooves；13 1/4 circular grooves；2 steering cranks；3 connecting rods；4 center cranks；5 drive shafts；6 vertical rotation axis；7 turning-bars；8 wheels；9 wheel carriers；10 motors.
Detailed description of the invention
Below in conjunction with the accompanying drawings, the present invention will be further described:
Fig. 1 to Fig. 4 shows a kind of four-wheel pivot stud mechanism, including track plates 1, four wheels 8 and steering linkages.Four wheels 8 are rigidly connected with corresponding vertical rotation axis 6 respectively and pass through vertical rotation axis 6 and are arranged on track plates 1 lower surface, and steering linkage is arranged on track plates 1 upper surface.Being a round circular orbit in the middle of track plates 1, in the present embodiment, round circular orbit is an annular groove 12;Track plates 1 four jiaos is respectively arranged with 1/4 circular groove 13, and track plates about 1 two ends are respectively arranged with a straight trough 11.Steering linkage includes steering crank 2, connecting rod 3, center crank 4, drive shaft 5 and turning-bar 7.Drive shaft 5 is arranged in annular groove 12, and drive shaft 5 lower end is connected with motor 10 through track plates 1 center and by shaft coupling, and the upper end of drive shaft 5 is connected with center crank 4 central rigid to drive center crank 4 to rotate.The two ends of center crank 4 are respectively articulated with a connecting rod 3, and the connecting pin of center crank 4 two ends and connecting rod 3 moves along annular groove 12.The other end of connecting rod 3 and two symmetrically arranged steering cranks 2 are hinged, and the swivel pin of this end of connecting rod 3 moves along straight trough 11.The other end of steering crank 2 is hinged with corresponding turning-bar 7, and the swivel pin of this end moves along 1/4 corresponding circular groove 13.The other end of turning-bar 7 is rigidly connected with corresponding vertical rotation axis 6 upper end.The lower end of vertical rotation axis 6 is connected with wheel 8, as shown in Figure 3 and Figure 4 through track plates 1 and by wheel carrier 9.
During work, as it is shown in figure 1, this state 1 time, chassis can be moved along X-direction；When needing to turn, motor 10 drives drive shaft 5 to rotate counterclockwise by shaft coupling, drive shaft 5 drives center crank 4 to rotate counterclockwise, the two ends connecting pin of center crank 4 is along annular groove 12 counterclockwise movement, thus drivening rod 3 moves, the straight trough 11 of the other end of connecting rod 3 X-direction along track plates 1 slides；Connecting rod 3 drives four steering cranks 2 to move, steering crank 2 slides in driving the free end of corresponding turning-bar 7 1/4 circular groove 13 on track plates 1, thus driving vertical rotation axis 6 rigidly connected with turning-bar 7 to rotate, vertical rotation axis 6 is rotated by wheel carrier 9 band motor car wheel 8 rigidly connected with it；Turning-bar 7 drives vertical rotation axis 6 to turn over 90 degree and reaches the limit of and put, and motor 10 quits work, and completes pivot stud, reaches state 2, as in figure 2 it is shown, chassis can be moved along Y direction.
In like manner, when needing to be redirect to state 1 by state 2, the direction of rotation of motor 10 need to only be changed.
Above in conjunction with accompanying drawing, the present invention is carried out exemplary description; obviously the realization of the present invention is not subject to the restrictions described above; if the various improvement that the method design that have employed the present invention is carried out with technical scheme; or the most improved design by the present invention and technical scheme directly apply to other occasion, the most within the scope of the present invention.
Claims (10)
1. a four-wheel pivot stud mechanism, including four wheels (8), it is characterized in that: also include track plates (1) and steering linkage, wheel (8) is rigidly connected with corresponding vertical rotation axis (6) and passes through vertical rotation axis (6) and is arranged on track plates (1) lower surface, and steering linkage is arranged on track plates (1) upper surface；Steering linkage drives vertical rotation axis (6) 90-degree rotation thus band motor car wheel (8) pivot stud 90 degree.
Four-wheel the most according to claim 1 pivot stud mechanism, it is characterised in that: steering linkage includes steering crank (2), connecting rod (3), center crank (4), drive shaft (5) and turning-bar (7)；Drive shaft (5) lower end is connected through track plates (1) center with motor, and drive shaft (5) upper end is rigidly connected with center crank (4) middle part, and center crank (4) two ends are hinged with a connecting rod (3) respectively;The other end and two symmetrically arranged steering cranks (2) of connecting rod (3) are hinged, and the other end of steering crank (2) is hinged with the free end of corresponding turning-bar (7), and turning-bar (7) other end is rigidly connected with corresponding vertical rotation axis (6) upper end.
Four-wheel the most according to claim 2 pivot stud mechanism, it is characterised in that: track plates (1) upper surface corner is respectively arranged with 1/4 circular groove (13), and the free end of turning-bar (7) can be along corresponding 1/4 circular groove (13) motion.
Four-wheel the most according to claim 2 pivot stud mechanism, it is characterised in that: track plates (1) two ends, left and right are respectively arranged with a straight trough (11), and connecting rod (3) one end hinged with steering crank (2) can be along track plates (1) the most corresponding upper straight trough (11) motion.
5. according to the four-wheel pivot stud mechanism described in claim 2,3 or 4, it is characterised in that: being a round circular orbit in the middle of track plates (1), drive shaft (5) is arranged on round circular orbit center, can move along round circular orbit in the two ends of center crank (4).
Four-wheel the most according to claim 5 pivot stud mechanism, it is characterised in that: round circular orbit is annular groove (12).
7. according to the four-wheel pivot stud mechanism described in claim 2,3,4 or 6, it is characterised in that: drive shaft (5) lower end is connected with motor by shaft coupling.
8. according to claim 2 to 7 arbitrary described four-wheel pivot stud mechanism, it is characterised in that: motor is motor (10).
9. according to the four-wheel pivot stud mechanism described in claim 1,2,3,4 or 6, it is characterised in that: wheel (8) is rigidly connected with corresponding vertical rotation axis (6) lower end by wheel carrier (9).
10. a four-wheel pivot stud dolly, it is characterised in that: include the claims 1 to 9 arbitrary described four-wheels pivot stud mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610501769.0A CN106004998A (en) | 2016-06-30 | 2016-06-30 | Four-wheel in-situ steering mechanism and four-wheel in-situ steering trolley |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610501769.0A CN106004998A (en) | 2016-06-30 | 2016-06-30 | Four-wheel in-situ steering mechanism and four-wheel in-situ steering trolley |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106004998A true CN106004998A (en) | 2016-10-12 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610501769.0A Pending CN106004998A (en) | 2016-06-30 | 2016-06-30 | Four-wheel in-situ steering mechanism and four-wheel in-situ steering trolley |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106004998A (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108773434A (en) * | 2018-06-26 | 2018-11-09 | 深圳市功夫机器人有限公司 | Support system and AGV |
| CN110329762A (en) * | 2019-05-13 | 2019-10-15 | 杭州虹妍服饰有限公司 | A kind of smart machine |
| CN110497960A (en) * | 2019-08-15 | 2019-11-26 | 公安部第一研究所 | A kind of robot pivot steering system and robot moving platform |
| CN110512672A (en) * | 2019-08-29 | 2019-11-29 | 广东博智林机器人有限公司 | Evener |
| CN110733564A (en) * | 2019-11-21 | 2020-01-31 | 安徽春华智能科技有限公司 | AGV driving and steering device and working method thereof |
| CN110884565A (en) * | 2018-09-07 | 2020-03-17 | 沈阳新松机器人自动化股份有限公司 | Suspension steering mechanism based on four-wheel drive platform truck |
| CN111993436A (en) * | 2020-08-21 | 2020-11-27 | 山东科亿宏智能科技有限公司 | Full-automatic carrying robot and working method |
| CN112359152A (en) * | 2020-10-26 | 2021-02-12 | 徐希 | Leather processing is with removing knurling painting device |
| CN114379645A (en) * | 2022-03-24 | 2022-04-22 | 济南科亚电子科技有限公司 | Dispersible high-load AGV double-steering-wheel system |
| CN114435435A (en) * | 2021-12-30 | 2022-05-06 | 河南新开源石化管道有限公司 | Four-wheel linkage type trolley with radius adjustable function |
| CN114872788A (en) * | 2022-04-08 | 2022-08-09 | 江苏大学 | Mobile chassis, control method thereof and mobile robot |
| CN115234765A (en) * | 2022-07-07 | 2022-10-25 | 中国地质大学（武汉） | Computer vibration/noise reduction device convenient to dismouting |
-
2016
- 2016-06-30 CN CN201610501769.0A patent/CN106004998A/en active Pending
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108773434A (en) * | 2018-06-26 | 2018-11-09 | 深圳市功夫机器人有限公司 | Support system and AGV |
| CN108773434B (en) * | 2018-06-26 | 2023-05-12 | 深圳市功夫机器人有限公司 | Support system and AGV |
| CN110884565A (en) * | 2018-09-07 | 2020-03-17 | 沈阳新松机器人自动化股份有限公司 | Suspension steering mechanism based on four-wheel drive platform truck |
| CN110329762A (en) * | 2019-05-13 | 2019-10-15 | 杭州虹妍服饰有限公司 | A kind of smart machine |
| CN110497960A (en) * | 2019-08-15 | 2019-11-26 | 公安部第一研究所 | A kind of robot pivot steering system and robot moving platform |
| CN110512672A (en) * | 2019-08-29 | 2019-11-29 | 广东博智林机器人有限公司 | Evener |
| CN110733564A (en) * | 2019-11-21 | 2020-01-31 | 安徽春华智能科技有限公司 | AGV driving and steering device and working method thereof |
| CN111993436A (en) * | 2020-08-21 | 2020-11-27 | 山东科亿宏智能科技有限公司 | Full-automatic carrying robot and working method |
| CN111993436B (en) * | 2020-08-21 | 2023-11-21 | 山东科亿宏智能科技有限公司 | Full-automatic transfer robot and working method |
| CN112359152B (en) * | 2020-10-26 | 2022-11-18 | 温州取取皮业有限公司 | Leather processing is with removing knurling painting device |
| CN112359152A (en) * | 2020-10-26 | 2021-02-12 | 徐希 | Leather processing is with removing knurling painting device |
| CN114435435A (en) * | 2021-12-30 | 2022-05-06 | 河南新开源石化管道有限公司 | Four-wheel linkage type trolley with radius adjustable function |
| CN114379645A (en) * | 2022-03-24 | 2022-04-22 | 济南科亚电子科技有限公司 | Dispersible high-load AGV double-steering-wheel system |
| CN114379645B (en) * | 2022-03-24 | 2022-05-31 | 济南科亚电子科技有限公司 | Dispersible high-load AGV double-steering-wheel system |
| 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 |
| CN115234765A (en) * | 2022-07-07 | 2022-10-25 | 中国地质大学（武汉） | Computer vibration/noise reduction device convenient to dismouting |
| CN115234765B (en) * | 2022-07-07 | 2024-04-19 | 中国地质大学（武汉） | Computer vibration/noise reduction device convenient to disassemble and assemble |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20161012 |