CN106985902A - Electric steering mechanism is combined with electric steering mechanism - Google Patents
Electric steering mechanism is combined with electric steering mechanism Download PDFInfo
- Publication number
- CN106985902A CN106985902A CN201710329857.1A CN201710329857A CN106985902A CN 106985902 A CN106985902 A CN 106985902A CN 201710329857 A CN201710329857 A CN 201710329857A CN 106985902 A CN106985902 A CN 106985902A
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- China
- Prior art keywords
- tooth sector
- steering
- fixed
- fixed structure
- gear
- Prior art date
- 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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- 238000003032 molecular docking Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 230000005611 electricity Effects 0.000 description 2
- 230000008450 motivation Effects 0.000 description 2
- 241000540905 Acnemia Species 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
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- 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
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H17/00—Toy vehicles, e.g. with self-drive; ; Cranes, winches or the like; Accessories therefor
- A63H17/26—Details; Accessories
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D3/00—Steering gears
- B62D3/02—Steering gears mechanical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Steering Mechanism (AREA)
Abstract
The electric steering mechanism invented, is constituted from directional drive 1, tooth sector 2, from tooth sector 3, steering column jacket 4 and rotating to fixed structure 5；Directional drive 1 and steering column jacket 4 are fixed, and tooth sector 2 is fixed on the axle of directional drive 1；Rotate to fixed structure 52 of the fixed structure 5 including steering spindle 51 and with motor car wheel, steering spindle 51 is simultaneously rotatable through steering column jacket 4, i.e., steering spindle 51 can be rotated relative to steering column jacket 4；It is fixed on and is rotated in the steering spindle 51 of fixed structure 5 from tooth sector 3；The gear of tooth sector 2 and gear from tooth sector 3 mesh together, and the pinion rotation of tooth sector 2 then drives the pinion rotation from tooth sector 3.
Description
Technical field
The invention belongs to robot technology and automatic vehicle technology, it is related to a kind of electric steering mechanism and electric steering mechanism
Combining structure.
Background technology
All it is running on wheels in the chassis of model car, toy car and acnemia mobile robot；In order to flexibly run,
It is required for steering mechanism.Common steering mechanism has, and (1) has a universal front-wheel, by two rear wheel drives, turns to by rear wheel rotation speed
Difference is determined；(2) there are two front-wheels, by two rear wheel drives, turn to and determined by rear wheel rotation speed difference；(3) four-wheel drive, is also by turning
Speed difference is turned to.But these forward methods, it is that this present invention proposes a kind of steering machine for directly allowing wheel steering not enough flexibly
Structure.
The content of the invention
The electric steering mechanism invented, by directional drive 1, tooth sector 2, from tooth sector 3, the and of steering column jacket 4
Rotate and constituted to fixed structure 5；Directional drive 1 and steering column jacket 4 are fixed, and tooth sector 2 is fixed on the axle of directional drive 1
On；Rotate to fixed structure 5-2 of the fixed structure 5 including steering spindle 5-1 and with motor car wheel, steering spindle 5-1 and pass through steering column jacket 4
And it is rotatable, i.e., steering spindle 5-1 can be rotated relative to steering column jacket 4；Rotation is fixed on to fixed structure 5 from tooth sector 3
On steering spindle 5-1；The gear of tooth sector 2 and gear from tooth sector 3 mesh together, the pinion rotation of tooth sector 2
Then drive the pinion rotation from tooth sector 3；Then the function of this steering mechanism is that control directional drive 1 is rotated, then is turned to
The concomitant rotation of gear 2, drive is rotated from tooth sector 3, and rotation is rotated to fixed structure 5, is rotated on fixed structure 5
The position of wheel will be turned to, and complete course changing control effect.
According to foregoing electric steering mechanism, can be further combined for：By directional drive 1, tooth sector 2, two
Rotate and constituted to fixed structure 5 from tooth sector 3, two steering column jackets 4 and two；Directional drive 1 and steering column jacket 4 are solid
Fixed, tooth sector 2 is fixed on the axle of directional drive 1；Rotating to fixed structure 5 includes motor steering spindle 5-1 and drive
The fixed structure 5-2 of wheel, steering spindle 5-1 are through steering column jacket 4 and rotatable, i.e. steering spindle 5-1 can be with respect to steering column jacket 4
Rotate；It is fixed on and is rotated on the steering spindle 5-1 of fixed structure 5 from tooth sector 3；The gear of tooth sector 2 and from turn to tooth
The gear of wheel 3 meshes together, and the pinion rotation of tooth sector 2 then drives the pinion rotation from tooth sector 3；Then this is turned to
The function of mechanism is that control directional drive 1 is rotated, then the concomitant rotation of tooth sector 2, is driven two and is rotated from tooth sector 3,
And make two to rotate and rotated to fixed structure 5, two rotate and will be turned to the position of the wheel on fixed structure 5, complete two
Course changing control is acted on while individual wheel.
According to foregoing electric steering mechanism, can further it be improved to：Rotate to fixed structure 5 steering spindle 5-1 and
Fixed structure 5-2 is segmented into two parts, and is bonded together.
According to foregoing electric steering mechanism, can further it be improved to：Steering column jacket 4 is bearing, and outer ring is fixed, inner lane
With steering spindle 5-1 tight fits, it is fixed together；So, when driving steering spindle 5-1 rotations from tooth sector 3, steering column jacket 4
Outer ring fix, inner lane with steering spindle 5-1 rotate.
According to foregoing electric steering mechanism, can further it be improved to：The radius of tooth sector 2 is less than from tooth sector
3 radius, in favor of the conversion of torque.
According to foregoing electric steering mechanism, can further it be improved to：Can be circular from the profile of tooth sector 3
A part, such as fan-shaped, gear teeth is located on circular arc.
According to foregoing electric steering mechanism, can further to define for：Directional drive 1 is steering wheel.
According to foregoing electric steering mechanism, can further to define for：Rotate steering spindle 5-1's to fixed structure 5
Cross-sectional area is polygon, is easy to fixed from tooth sector 3；Fixed structure 5-2 is made up of annulus post and a circular end face, end
Face is vertical with the axis of annulus post, and the outside of end face is connected with the outer cylinder of annulus post, partly by electronic mantle inside annulus post
Firmly, there is hole to allow motor reel to expose on end face, the mounting hole of fixed motor is also installed.
According to foregoing electric steering mechanism, can further to define for：In the rotation from tooth sector 3 by region
Appropriate location sets prominent locating dowel, can block further rotating from tooth sector 3, it is to avoid rotate from tooth sector 3
To undesirable position.
According to foregoing electric steering mechanism, can further to define for：The gear of tooth sector 2 and from tooth sector 3
Gear engagement side, be not straight line, but staggeredly there is ledge also to have indented section；The gear teeth of tooth sector 2
Ledge correspondence from the indented section of the gear teeth of tooth sector 3, the indented section correspondence of the gear teeth of tooth sector 2 from
The ledge of the gear teeth of tooth sector 3；So it can reduce and avoid operationally because of material deformation and unbalance stress
The gear of caused tooth sector 2 and from the dislocation up and down between the gear of tooth sector 3.
The combination of the electric steering mechanism and electric steering mechanism that are proposed, structure is terse, is easy to produce and installs；Formed
Function have very strong practicality.
Brief description of the drawings
Accompanying drawing 1 is the schematic diagram of steering mechanism of the present invention；
Accompanying drawing 2 is the schematic diagram of steering mechanism of the present invention；
Accompanying drawing 3 is the schematic diagram of steering mechanism's combination of the present invention；
Accompanying drawing 4 is schematic diagram of the rotation of the present invention for motor driving to fixed structure；
Accompanying drawing 5 is that the engagement side of the gear of tooth sector 2 of the present invention and the gear from tooth sector 3 is staggeredly
The schematic diagram of situation.
Embodiment
Embodiment one
Illustrate the embodiment of invented joint of robot and the combination of related linking arm with reference to accompanying drawing 1 to Fig. 4：By
Directional drive 1, tooth sector 2, two rotate and constituted to fixed structure 5 from tooth sector 3, two steering column jackets 4 and two；
Directional drive 1 and steering column jacket 4 are fixed, and directional drive 1 is steering wheel, and tooth sector 2 is fixed on the axle of directional drive 1
On；Rotate to fixed structure 5-2 of the fixed structure 5 including steering spindle 5-1 and with motor car wheel, rotate the steering to fixed structure 5
Axle 5-1 cross-sectional area is polygon, is easy to fixed from tooth sector 3；Fixed structure 5-2 is by annulus post and a circular end face
Composition, end face is vertical with the axis of annulus post, and the outside of end face is connected with the outer cylinder of annulus post, partly by electricity inside annulus post
Motivation is entangled, and has hole to allow motor reel to expose on end face, also installs the mounting hole of fixed motor；Steering spindle 5-1, which is passed through, to be turned
To axle sleeve 4 and rotatably, i.e., steering spindle 5-1 can be rotated relative to steering column jacket 4；It is circular one from the profile of tooth sector 3
Divide and be fixed on and rotate on the steering spindle 5-1 of fixed structure 5；The gear of tooth sector 2 and the gear engagement from tooth sector 3
Together, the pinion rotation of tooth sector 2 then drives the pinion rotation from tooth sector 3；The radius of tooth sector 2 be less than from turn
To the radius of gear 3；Then the function of this steering mechanism is that control directional drive 1 is rotated, then the concomitant rotation of tooth sector 2,
Drive two to rotate from tooth sector 3, and make two to rotate and rotated to fixed structure 5, two rotate to the electricity on fixed structure 5
The position of motivation will be turned to, and completed course changing control while two wheels and acted on.
Claims (10)
1. electric steering mechanism, it is characterised in that:By directional drive 1, tooth sector 2, from tooth sector 3, the and of steering column jacket 4
Rotate and constituted to fixed structure 5；Directional drive 1 and steering column jacket 4 are fixed, and tooth sector 2 is fixed on the axle of directional drive 1
On；Rotate to fixed structure 5-2 of the fixed structure 5 including steering spindle 5-1 and with motor car wheel, steering spindle 5-1 and pass through steering column jacket 4
And it is rotatable, i.e., steering spindle 5-1 can be rotated relative to steering column jacket 4；Rotation is fixed on to fixed structure 5 from tooth sector 3
On steering spindle 5-1；The gear of tooth sector 2 and gear from tooth sector 3 mesh together, the pinion rotation of tooth sector 2
Then drive the pinion rotation from tooth sector 3.
2. electric steering mechanism combination according to claim 1, it is characterised in that：By directional drive 1, tooth sector 2,
Two rotate from tooth sector 3, two steering column jackets 4 and two and are constituted to fixed structure 5；Directional drive 1 and steering column jacket 4
Fixed, tooth sector 2 is fixed on the axle of directional drive 1；Rotating to fixed structure 5 includes motor steering spindle 5-1 and band
The fixed structure 5-2 of motor car wheel, steering spindle 5-1 are simultaneously rotatable through steering column jacket 4, i.e., steering spindle 5-1 can with respect to steering column jacket 4
To rotate；It is fixed on and is rotated on the steering spindle 5-1 of fixed structure 5 from tooth sector 3；The gear of tooth sector 2 and from steering
The gear of gear 3 meshes together, and the pinion rotation of tooth sector 2 then drives the pinion rotation from tooth sector 3.
3. the electric steering mechanism according to claim 1 and claim 2, it is further characterized by：Rotate to fixation
The steering spindle 5-1 and fixed structure 5-2 of structure 5 are segmented into two parts, and are bonded together.
4. the electric steering mechanism according to claim 1 and claim 2, it is further characterized by：Steering column jacket 4 is
Bearing, outer ring is fixed, inner lane and steering spindle 5-1 tight fits, is fixed together.
5. the electric steering mechanism according to claim 1 and claim 2, it is further characterized by：Tooth sector 2
Radius is less than the radius from tooth sector 3.
6. the electric steering mechanism according to claim 1 and claim 2, it is further characterized by：From tooth sector 3
Profile can be a circular part, such as fan-shaped, gear teeth is located on circular arc.
7. the electric steering mechanism according to claim 1 and claim 2, it is further characterized by：Directional drive 1
It is steering wheel.
8. the electric steering mechanism according to claim 1 and claim 2, it is further characterized by：Rotate to fixation
The steering spindle 5-1 of structure 5 cross-sectional area is polygon, is easy to fixed from tooth sector 3；Fixed structure 5-2 by annulus post and
One circular end face composition, end face is vertical with the axis of annulus post, and the outside of end face is connected with the outer cylinder of annulus post, annulus post
Motor is entangled in the inside part, has hole to allow motor reel to expose on end face, also installs the mounting hole of fixed motor.
9. the electric steering mechanism according to claim 1 and claim 2, it is further characterized by：From turn to tooth
The rotation of wheel 3 sets prominent locating dowel by the appropriate location in region, can block further rotating from tooth sector 3.
10. the electric steering mechanism according to claim 1 and claim 2, it is further characterized by：Tooth sector 2
Gear and gear from tooth sector 3 engagement side, be not straight line, but staggeredly there is ledge also to have docking portion
Point；The ledge of the gear teeth of tooth sector 2 is corresponding from the indented section of the gear teeth of tooth sector 3, the tooth of tooth sector 2
Ledge of the indented section correspondence of the gear teeth from the gear teeth of tooth sector 3.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710329857.1A CN106985902A (en) | 2017-05-11 | 2017-05-11 | Electric steering mechanism is combined with electric steering mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710329857.1A CN106985902A (en) | 2017-05-11 | 2017-05-11 | Electric steering mechanism is combined with electric steering mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106985902A true CN106985902A (en) | 2017-07-28 |
Family
ID=59418647
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710329857.1A Pending CN106985902A (en) | 2017-05-11 | 2017-05-11 | Electric steering mechanism is combined with electric steering mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106985902A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109383616A (en) * | 2017-08-10 | 2019-02-26 | 通用汽车环球科技运作有限责任公司 | Electric power steering and method |
| CN111114637A (en) * | 2019-12-24 | 2020-05-08 | 中国科学院合肥物质科学研究院 | Land robot walking mechanism facing global terrain |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0826123A (en) * | 1994-07-12 | 1996-01-30 | Takashi Kato | Ackermann type steering mechanism |
| KR20100013503A (en) * | 2008-07-31 | 2010-02-10 | 그린모텍(주) | Electromotive forklift truck travelling steering apparatus |
| CN201766825U (en) * | 2010-08-17 | 2011-03-23 | 中国农业机械化科学研究院 | Steering device and steering power transmission mechanism thereof |
| CN103721420A (en) * | 2012-10-15 | 2014-04-16 | 西佩尔吕登沙伊德有限及两合公司 | Steering module for a toy vehicle and toy vehicle |
| CN205098267U (en) * | 2015-11-03 | 2016-03-23 | 武汉慧杰智能自动化有限公司 | Shock attenuation walking steering mechanism |
| CN105435461A (en) * | 2015-12-29 | 2016-03-30 | 湖南理工学院 | Educational small toy car with track controlled through cam memory block |
| CN105771254A (en) * | 2014-12-25 | 2016-07-20 | 重庆酷奇模型有限公司 | Gear-steered toy car |
| CN206926716U (en) * | 2017-05-11 | 2018-01-26 | 哈尔滨若朋机器人有限责任公司 | Electric steering mechanism combines with electric steering mechanism |
-
2017
- 2017-05-11 CN CN201710329857.1A patent/CN106985902A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0826123A (en) * | 1994-07-12 | 1996-01-30 | Takashi Kato | Ackermann type steering mechanism |
| KR20100013503A (en) * | 2008-07-31 | 2010-02-10 | 그린모텍(주) | Electromotive forklift truck travelling steering apparatus |
| CN201766825U (en) * | 2010-08-17 | 2011-03-23 | 中国农业机械化科学研究院 | Steering device and steering power transmission mechanism thereof |
| CN103721420A (en) * | 2012-10-15 | 2014-04-16 | 西佩尔吕登沙伊德有限及两合公司 | Steering module for a toy vehicle and toy vehicle |
| CN105771254A (en) * | 2014-12-25 | 2016-07-20 | 重庆酷奇模型有限公司 | Gear-steered toy car |
| CN205098267U (en) * | 2015-11-03 | 2016-03-23 | 武汉慧杰智能自动化有限公司 | Shock attenuation walking steering mechanism |
| CN105435461A (en) * | 2015-12-29 | 2016-03-30 | 湖南理工学院 | Educational small toy car with track controlled through cam memory block |
| CN206926716U (en) * | 2017-05-11 | 2018-01-26 | 哈尔滨若朋机器人有限责任公司 | Electric steering mechanism combines with electric steering mechanism |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109383616A (en) * | 2017-08-10 | 2019-02-26 | 通用汽车环球科技运作有限责任公司 | Electric power steering and method |
| CN111114637A (en) * | 2019-12-24 | 2020-05-08 | 中国科学院合肥物质科学研究院 | Land robot walking mechanism facing global terrain |
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