CN107054464A - A kind of three-wheel differential steering gear and vehicle - Google Patents
A kind of three-wheel differential steering gear and vehicle Download PDFInfo
- Publication number
- CN107054464A CN107054464A CN201710325691.6A CN201710325691A CN107054464A CN 107054464 A CN107054464 A CN 107054464A CN 201710325691 A CN201710325691 A CN 201710325691A CN 107054464 A CN107054464 A CN 107054464A
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- CN
- China
- Prior art keywords
- axletree
- wheel
- transmission mechanism
- fixedly connected
- steering gear
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/02—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/001—Steering non-deflectable wheels; Steering endless tracks or the like control systems
- B62D11/006—Mechanical control systems
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
- Retarders (AREA)
Abstract
The invention discloses a kind of three-wheel differential steering gear and vehicle, three-wheel differential steering gear includes steerable drive wheel group, turns to driven wheels and turns to transmission mechanism, steerable drive wheel group includes the first road wheel being rotatably arranged on the first axletree and the second road wheel being rotatably arranged on the second axletree, and the first axletree is fixedly connected with the second axletree；The third line that turning to driven wheels includes being rotatably arranged on the 3rd axletree walks wheel；Turn to transmission mechanism connection steerable drive wheel group and turn to driven wheels, the speed discrepancy of the first road wheel and the second road wheel can drive steering transmission mechanism motion, and turning to transmission mechanism is used to the divertical motion of steerable drive wheel group being delivered to steering driven wheels.Vehicle proposed by the present invention, employs above-mentioned three-wheel differential steering gear, small with radius of turn, can comprehensive turning walking, can be spatially steered in narrow, while the utilization high rate of resource, the low advantage of product cost.
Description
Technical field
The present invention relates to course changing control technical field, more particularly to a kind of three-wheel differential steering gear and poor using the three-wheel
The vehicle of fast steering mechanism.
Background technology
Vehicle steering mechanism is used to control all kinds of wheeled or caterpillar travel direction.Traditional course changing control mechanism
It is that being typically necessary special drive control, it is turned to meet machine turn designs, manpower or other power, such as voluntarily
Car and automotive steering structure.Simple increases driving for steering, it is generally the case that driving is in idle state, causes product
Cost is improved, the problem of resource utilization is low.And common two wheel guide robot control steering mechanism, by controlling two-wheeled is different to turn
Dynamic speed, realizes and turns to, radius of turn is big, and steering angle is limited, it is difficult to which realization is spatially steered in narrow, causes space utilization
Rate is low.
The content of the invention
It is an object of the invention to provide a kind of three-wheel differential steering gear, to solve cost present in prior art
It is high, resource utilization is low, radius of turn is big, steering angle is limited, low space utilization technical problem.
As above conceive, the technical solution adopted in the present invention is：
A kind of three-wheel differential steering gear, including：
Steerable drive wheel group, it includes the first road wheel being rotatably arranged on the first axletree and is rotatably arranged on the second car
The second road wheel on axle, first axletree is fixedly connected with second axletree；
Driven wheels are turned to, its third line for including being rotatably arranged on the 3rd axletree walks wheel；
Transmission mechanism is turned to, it connects described steerable drive wheel group and turns to driven wheels, first road wheel and the
The speed discrepancy of two road wheels can drive the steering transmission mechanism to move, and the steering transmission mechanism is used to drive described turn to
The divertical motion of wheel group is delivered to the steering driven wheels.
Wherein, the steering transmission mechanism includes：
Active steering transmission mechanism, it is connected with the steerable drive wheel group；
Driven steering transmission mechanism, it is connected with the steering driven wheels；
Drive link, its two ends are hinged with the active steering transmission mechanism and driven steering transmission mechanism respectively, described turn
Institute is delivered to by the active steering transmission mechanism, drive link and driven steering transmission mechanism to the divertical motion of drive wheel group
State steering driven wheels.
Wherein, the active steering transmission mechanism includes：
Axle sleeve, it is located at the junction of first axletree and second axletree, and with first axletree and second
Axletree is fixedly connected with；
First connecting shaft, its one end is fixedly connected with the axle sleeve, and first connecting shaft is hung down with first axletree
Directly；
First connecting rod, its one end is fixedly connected with first connecting shaft, and the other end of the first connecting rod is passed with described
Lever passes through the first hinge.
Wherein, the first connecting rod is vertical with first connecting shaft.
Wherein, in addition to first support, the one end of first axletree away from second axletree and the first support
It is fixedly connected, the one end of second axletree away from first axletree is fixedly connected with the first support.
Wherein, first connecting shaft is fixedly connected with the first support.
Wherein, the driven steering transmission mechanism includes：
Second support, the two ends of the 3rd axletree are fixedly connected with the second support；
Second connecting shaft, its one end is fixedly connected with the second support, and second connecting shaft and the 3rd car
Axle is vertical；
Second connecting rod, its one end is fixedly connected with second connecting shaft, and the other end of the second connecting rod is passed with described
Lever passes through the second hinge.
Wherein, the second connecting rod is vertical with second connecting shaft.
Wherein, the central axis of the central axis of first axletree and second axletree is located on the same line.
Wherein, first road wheel, the second road wheel and the third line are walked in wheel and are provided with wheel hub motor.
Another object of the present invention is to provide a kind of vehicle with above-mentioned three-wheel differential steering gear.
As above conceive, the technical solution adopted in the present invention is：
A kind of vehicle, including the three-wheel differential steering gear described in any of the above-described.
Three-wheel differential steering gear proposed by the present invention, its steerable drive wheel group includes being rotatably arranged on the first axletree
First road wheel and the second road wheel being rotatably arranged on the second axletree, the first axletree are fixedly connected with the second axletree, passed through
The speed discrepancy of first road wheel and the second road wheel can drive steering transmission mechanism motion, and then drive steering driven wheels to carry out
Divertical motion；Traditional two wheel guide robot steering mechanism is changed to three-wheel differential steering gear, radius of turn, steering angle is reduced
Do not limit, realize comprehensive turning walking；The utilization rate of resource is improved simultaneously, product cost is reduced, and reduces the wasting of resources.
Vehicle proposed by the present invention, because using above-mentioned three-wheel differential steering gear, therefore, Neng Gouquan small with radius of turn
Orientation, which is turned, walks, and can be spatially steered in narrow, while the utilization high rate of resource, the low advantage of product cost.
Brief description of the drawings
Fig. 1 is the structural representation for the three-wheel differential steering gear that the present invention is provided；
Fig. 2 is the top view for the three-wheel differential steering gear that the present invention is provided；
Fig. 3 is the overlooking the structure diagram when three-wheel differential steering gear that the present invention is provided is turned to.
In figure：
1st, steerable drive wheel group；2nd, driven wheels are turned to；3rd, active steering transmission mechanism；4th, driven steering transmission mechanism；
5th, drive link；6th, the first bearing pin；7th, the second bearing pin；
11st, the first axletree；12nd, the first road wheel；13rd, the second axletree；14th, the second road wheel；
21st, the 3rd axletree；22nd, the third line walks wheel；
31st, axle sleeve；32nd, the first connecting shaft；33rd, first connecting rod；34th, first support；
41st, second support；42nd, the second connecting shaft；43rd, second connecting rod.
Embodiment
Below in conjunction with the accompanying drawings technical scheme is further illustrated with embodiment.It is understood that this place
The specific embodiment of description is used only for explaining the present invention, rather than limitation of the invention.It also should be noted that, in order to
It is easy to description, illustrate only part related to the present invention in accompanying drawing and not all.
Embodiment one
Referring to Fig. 1 to Fig. 3, a kind of three-wheel differential steering gear, including steerable drive wheel group 1, turn to driven wheels 2 and turn
To transmission mechanism.
Steerable drive wheel group 1 includes the first road wheel 12 being rotatably arranged on the first axletree 11 and is rotatably arranged on second
The second road wheel 14 on axletree 13, the first axletree 11 is fixedly connected with the second axletree 13, the first axletree 11 and the second axletree 13
Itself do not rotate.In the present embodiment, the central axis of the central axis of the first axletree 11 and the second axletree 13 is located at same
On bar straight line.
The third line that turning to driven wheels 2 includes being rotatably arranged on the 3rd axletree 21 walks wheel 22；Transmission mechanism is turned to connect
Switch through to drive wheel group 1 and turn to driven wheels 2, the speed discrepancy of the first road wheel 12 and the second road wheel 14 can drive steering to pass
Mechanism kinematic is passed, turning to transmission mechanism is used to the divertical motion of steerable drive wheel group 1 being delivered to steering driven wheels 2.
Traditional two wheel guide robot steering mechanism is changed to three-wheel differential steering gear, radius of turn, steering angle is reduced
Do not limit, realize comprehensive turning walking；The utilization rate of resource is improved simultaneously, product cost is reduced, and reduces the wasting of resources.
First road wheel 12, the second road wheel 14 and the third line are walked in wheel 22 and are provided with wheel hub motor so that three rows
Walking wheel, rotating speed is identical when walking, can keep balance.Power, transmission and brake apparatus are all incorporated into wheel hub by wheel hub motor,
A large amount of parts are eliminated, vehicle structure is simplified, space availability ratio is improved.
Turning to transmission mechanism includes active steering transmission mechanism 3, driven steering transmission mechanism 4 and drive link 5.Active steering
Transmission mechanism 3 is connected with steerable drive wheel group 1；Driven steering transmission mechanism 4 is connected with turning to driven wheels 2；The two of drive link 5
End is hinged with active steering transmission mechanism 3 and driven steering transmission mechanism 4 respectively, and the divertical motion of steerable drive wheel group 1 passes through
Active steering transmission mechanism 3, drive link 5 and driven steering transmission mechanism 4 are delivered to steering driven wheels 2.
Active steering transmission mechanism 3 includes axle sleeve 31, the first connecting shaft 32 and first connecting rod 33.Axle sleeve 31 is located at the first car
The junction of the axletree 13 of axle 11 and second, and be fixedly connected with the first axletree 11 and the second axletree 13；First connecting shaft 32
One end is fixedly connected with axle sleeve 31, and the first connecting shaft 32 is vertical with the first axletree 11；One end of first connecting rod 33 connects with first
Spindle 32 is fixedly connected, and the other end and the drive link 5 of first connecting rod 33 are hinged by the first bearing pin 6.First connecting rod 33 with it is described
First connecting shaft 32 is vertical.In the present embodiment, the first axletree 11 and the second axletree 13 are thread spindle, the car of axle sleeve 31 and first
The axletree 13 of axle 11 and second is threadedly coupled.The lower end of first connecting shaft 32 is welded or clamping with axle sleeve 31, the first connecting shaft 32
The junction of upper end and the clamping of first connecting rod 33, the first connecting shaft 32 and first connecting rod 33, which is milled with plane, first connecting rod 33, opens
Provided with the connecting hole coordinated with the first connecting shaft 32.
In order to increase the stability of integrated model, first support 34 is additionally provided with, the first axletree 11 is away from the second axletree 13
One end be fixedly connected with first support 34, the one end of the second axletree 13 away from the first axletree 11 and first support 34, which are fixed, to be connected
Connect.First support 34 includes top plate and side plate, and two side plates are respectively perpendicular the two ends for being connected to top plate, and the first axletree 11 is away from the
One end of two axletrees 13 is fixed through a side plate and by nut, and the one end of the second axletree 13 away from the first axletree 11 is with passing through
Another side plate is simultaneously fixed by nut.The upper end of first connecting shaft 32 passes through top plate, the axle body and first of the first connecting shaft 32
Support 34 is fixedly connected.
Driven steering transmission mechanism 4 includes second support 41, the second connecting shaft 42 and second connecting rod 43.Second support 41
Including top plate and side plate, two side plates are respectively perpendicular the two ends for being connected to top plate, and the two ends of the 3rd axletree 21 pass through two side plates
And fixed by nut.The lower end of second connecting shaft 42 is fixedly connected with second support 41, and the second connecting shaft 42 and the 3rd car
Axle 21 is vertical；One end of second connecting rod 43 is fixedly connected with the upper end of the second connecting shaft 42, the other end and biography of second connecting rod 43
Lever 5 is hinged by the second bearing pin 7, and second connecting rod 43 is vertical with the second connecting shaft 42.
In order to ensure the strength and stability of integrated model, mitigate the weight of integrated model, the first connecting shaft 32 and the again
Two connecting shafts 42 are disposed as multi-diameter shaft, and the diameter of the first connecting shaft 32 and the second connecting shaft 42 is gradually to subtract from bottom to top
It is small.
During normal straight-ahead operation, the first road wheel 12, the second road wheel 14 and the third line walk the rotating speed all same of wheel 22, it is ensured that straight
Capable stability of equilibrium.
During left steering, then the rotating speed of the first road wheel 12 is less than the rotating speed of the second road wheel 14, then the He of the first road wheel 12
The rotate counterclockwise of second road wheel 14, and then drive the first axletree 11 and the synchronous rotation counterclockwise in the horizontal plane of the second axletree 13
Turn, pass through the first connecting shaft 32, first connecting rod 33, drive link 5, second connecting rod 43, the second connecting shaft 42 and the band of second support 41
Dynamic the third line walks 22 rotate counterclockwises of wheel, completes left steering.
During right turn, then the rotating speed of the first road wheel 12 is more than the rotating speed of the second road wheel 14, then the He of the first road wheel 12
Second road wheel 14 turns clockwise, and then drives the first axletree 11 and the synchronous dextrorotation in the horizontal plane of the second axletree 13
Turn, pass through the first connecting shaft 32, first connecting rod 33, drive link 5, second connecting rod 43, the second connecting shaft 42 and the band of second support 41
Dynamic the third line is walked wheel 22 and turned clockwise, and completes right turn.
Embodiment two
A kind of vehicle, including above-mentioned three-wheel differential steering gear, for driving vehicle to advance and turning to.The three-wheel differential
When steering mechanism is connected with vehicle, the axle body of the first connecting shaft 32 and the hull of vehicle are rotated and connected, the axle of the second connecting shaft 42
The hull of body and vehicle rotates connection, after installation, the center of the central axis of the first connecting shaft 32 and the second connecting shaft 42
The distance between axis is a definite value.In the present embodiment, the hull of the axle body of the first connecting shaft 32 and vehicle rotates connection,
The axle body of second connecting shaft 42 and the hull of vehicle, which are rotated, to be connected.
Three-wheel differential steering gear is installed on the front end of vehicle, and two universal wheels are installed at the rear end interval of vehicle.
Vehicle proposed by the present invention, can be automatical pilot transportation vehicle.Because using above-mentioned three-wheel differential steering gear, therefore
It is small with radius of turn, can comprehensive turning walking, can be spatially steered in narrow, while the utilization high rate of resource, product
The low advantage of cost.
Embodiment of above is the general principle and characteristic for elaborating the present invention, and the present invention is not limited by above-mentioned embodiment
System, without departing from the spirit and scope of the present invention, the present invention also have various change and change, and these changes and modifications are all
Fall into scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent circle
It is fixed.
Claims (10)
1. a kind of three-wheel differential steering gear, it is characterised in that including：
Steerable drive wheel group, it includes the first road wheel being rotatably arranged on the first axletree and is rotatably arranged on the second axletree
The second road wheel, first axletree is fixedly connected with second axletree；
Driven wheels are turned to, its third line for including being rotatably arranged on the 3rd axletree walks wheel；
Transmission mechanism is turned to, it connects the steerable drive wheel group and turns to driven wheels, first road wheel and the second row
Walking the speed discrepancy of wheel can drive the steering transmission mechanism to move, and the steering transmission mechanism is used for the steerable drive wheel group
Divertical motion be delivered to the steering driven wheels.
2. three-wheel differential steering gear according to claim 1, it is characterised in that the steering transmission mechanism includes：
Active steering transmission mechanism, it is connected with the steerable drive wheel group；
Driven steering transmission mechanism, it is connected with the steering driven wheels；
Drive link, its two ends are hinged with the active steering transmission mechanism and driven steering transmission mechanism respectively, and described turn to is driven
The divertical motion of driving wheel group is delivered to described turn by the active steering transmission mechanism, drive link and driven steering transmission mechanism
To driven wheels.
3. three-wheel differential steering gear according to claim 2, it is characterised in that the active steering transmission mechanism bag
Include：
Axle sleeve, it is located at the junction of first axletree and second axletree, and with first axletree and the second axletree
It is fixedly connected with；
First connecting shaft, its one end is fixedly connected with the axle sleeve, and first connecting shaft is vertical with first axletree；
First connecting rod, its one end is fixedly connected with first connecting shaft, the other end of the first connecting rod and the drive link
Pass through the first hinge.
4. three-wheel differential steering gear according to claim 3, it is characterised in that the first connecting rod connects with described first
Spindle is vertical.
5. three-wheel differential steering gear according to claim 3, it is characterised in that also including first support, described first
The one end of axletree away from second axletree is fixedly connected with the first support, and second axletree is away from first axletree
One end be fixedly connected with the first support, first connecting shaft is fixedly connected with the first support.
6. three-wheel differential steering gear according to claim 2, it is characterised in that the driven steering transmission mechanism bag
Include：
Second support, the two ends of the 3rd axletree are fixedly connected with the second support；
Second connecting shaft, its one end is fixedly connected with the second support, and second connecting shaft is hung down with the 3rd axletree
Directly；
Second connecting rod, its one end is fixedly connected with second connecting shaft, the other end of the second connecting rod and the drive link
Pass through the second hinge.
7. three-wheel differential steering gear according to claim 6, it is characterised in that the second connecting rod connects with described second
Spindle is vertical.
8. the three-wheel differential steering gear according to claim any one of 1-7, it is characterised in that in first axletree
The central axis of heart axis and second axletree is located on the same line.
9. the three-wheel differential steering gear according to claim any one of 1-7, it is characterised in that first road wheel,
Second road wheel and the third line, which are walked in wheel, is provided with wheel hub motor.
10. a kind of vehicle, it is characterised in that including the three-wheel differential steering gear as described in claim any one of 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710325691.6A CN107054464B (en) | 2017-05-10 | 2017-05-10 | Three-wheel differential steering mechanism and vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710325691.6A CN107054464B (en) | 2017-05-10 | 2017-05-10 | Three-wheel differential steering mechanism and vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107054464A true CN107054464A (en) | 2017-08-18 |
| CN107054464B CN107054464B (en) | 2023-09-12 |
Family
ID=59596407
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710325691.6A Active CN107054464B (en) | 2017-05-10 | 2017-05-10 | Three-wheel differential steering mechanism and vehicle |
Country Status (1)
| Country | Link |
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| CN (1) | CN107054464B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201881894U (en) * | 2010-12-15 | 2011-06-29 | 浙江中控研究院有限公司 | Four-wheel differential drive type travel mechanism |
| CN203497054U (en) * | 2013-09-09 | 2014-03-26 | 无锡虹业自动化工程有限公司 | Pivot steering AGV (automatic guided vehicle) type self-walking carrier vehicle |
| JP2014066274A (en) * | 2012-09-25 | 2014-04-17 | Honda Motor Co Ltd | Driving force transmission device for vehicle |
| CN205615357U (en) * | 2016-04-20 | 2016-10-05 | 浙江吉利控股集团有限公司 | Electric motor car drive structure |
| CN106043496A (en) * | 2016-08-01 | 2016-10-26 | 江苏科技大学 | All-direction moving AGV with lifting comb teeth |
| CN207029291U (en) * | 2017-05-10 | 2018-02-23 | 北京蓝卡科技股份有限公司 | A kind of three-wheel differential steering gear and vehicle |
-
2017
- 2017-05-10 CN CN201710325691.6A patent/CN107054464B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201881894U (en) * | 2010-12-15 | 2011-06-29 | 浙江中控研究院有限公司 | Four-wheel differential drive type travel mechanism |
| JP2014066274A (en) * | 2012-09-25 | 2014-04-17 | Honda Motor Co Ltd | Driving force transmission device for vehicle |
| CN203497054U (en) * | 2013-09-09 | 2014-03-26 | 无锡虹业自动化工程有限公司 | Pivot steering AGV (automatic guided vehicle) type self-walking carrier vehicle |
| CN205615357U (en) * | 2016-04-20 | 2016-10-05 | 浙江吉利控股集团有限公司 | Electric motor car drive structure |
| CN106043496A (en) * | 2016-08-01 | 2016-10-26 | 江苏科技大学 | All-direction moving AGV with lifting comb teeth |
| CN207029291U (en) * | 2017-05-10 | 2018-02-23 | 北京蓝卡科技股份有限公司 | A kind of three-wheel differential steering gear and vehicle |
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| Publication number | Publication date |
|---|---|
| CN107054464B (en) | 2023-09-12 |
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