CN108116175A - A kind of robot suspension steering mechanism of Ackerman principle - Google Patents
A kind of robot suspension steering mechanism of Ackerman principle Download PDFInfo
- Publication number
- CN108116175A CN108116175A CN201711398523.6A CN201711398523A CN108116175A CN 108116175 A CN108116175 A CN 108116175A CN 201711398523 A CN201711398523 A CN 201711398523A CN 108116175 A CN108116175 A CN 108116175A
- Authority
- CN
- China
- Prior art keywords
- wheel
- steering linkage
- axle bed
- rod
- steering
- 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.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G11/00—Resilient suspensions characterised by arrangement, location or kind of springs
- B60G11/14—Resilient suspensions characterised by arrangement, location or kind of springs having helical, spiral or coil springs only
- B60G11/16—Resilient suspensions characterised by arrangement, location or kind of springs having helical, spiral or coil springs only characterised by means specially adapted for attaching the spring to axle or sprung part of the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/02—Spring characteristics, e.g. mechanical springs and mechanical adjusting means
- B60G17/021—Spring characteristics, e.g. mechanical springs and mechanical adjusting means the mechanical spring being a coil spring
-
- 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
- B62D7/20—Links, e.g. track rods
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2500/00—Indexing codes relating to the regulated action or device
- B60G2500/40—Steering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/24—Steering, cornering
- B60G2800/246—Understeer
Abstract
A kind of robot the invention discloses Ackerman principle hangs steering mechanism, is related to robot steering technique field.The wheel of two is symmetrically mounted on the both sides of steering linkage, and the structure of the wheel of two is identical with mounting means, the middle side edge of the wheel of one of them is provided with wheel axle bed, spring supporting axis is penetrated in the through hole of the front end of wheel axle bed, and the both ends of spring supporting axis are connected with U-shaped frame, the assembly of wheel axle bed and spring supporting axis moves up and down in U-shaped frame, in the through hole of the rear end of rod shaft one end insertion wheel axle bed, and the lower end of rod shaft is fixed with rod shaft catch, the macropore of steering linkage pivoted arm penetrates the upper end of spring supporting axis, aperture penetrates the upper end of rod shaft, several holes are evenly equipped in steering linkage, again with the top of a rod shaft catch steady brace shaft, mechanism is simple in structure, it is compact.It can realize the miniaturization of structure.Therefore can to avoid existing unmanned vehicle percent of pass it is low the problem of.
Description
Technical field
A kind of robot the present invention relates to Ackerman principle hangs steering mechanism, is specially robot steering technique neck
Domain.
Background technology
For four-wheel automobile, in order to avoid wheel side sliding, steering structure has been designed as meeting Ackermann steering principle
Mechanism.When vehicle turns left, the near front wheel steering angle is greater than off-front wheel steering angle, this difference is with car body steering angle
Degree increases and increases.So no matter whether automobile is someone's operation, steering principle all meets Ackerman principle, current
The auto-steering of unmanned vehicle is transformed using the steering of existing automobile；On traditional steering wheel rotational structure,
Increase a motor, its rotation is controlled, to achieve the purpose that auto-steering.
Some apply Ackermann steering principle robot, with the steerings parts of existing automobile be assemblied in one reduce
On car body, to realize turning function.
Present auto parts and components all meet existing vehicle.And the size of the double leval jib a1 of Ackerman steering gear and preceding
It rotates to distance between axles b1 and front-rear axle apart from closely related (such as Fig. 1).If it is entirely different to design a car body size
Vehicle, then the quadric chain of steering, it is necessary to customize, and existing cheap auto parts cannot be used.If by force
A new car body for not meeting former vehicle size is assembled in using existing automotive steering structure, then when steering, wheel side
Cunning is just difficult to avoid that.
For wheeled robot, the place of application is generally narrow, and radius of turn requirement is very small.These limitations, lead
Cause car body very small, and the size of car body is determined completely by the environment of robot place occasion.So meet different occasions
Robot is required for customization steering mechanism.Therefore, the automotive steering structure of mass production, it is difficult to adapt to the requirement of robot.
The present invention is exactly using a set of simple and reliable mechanism, realizes that the robot with suspension turns to solution party
Case.Program part is simple, easy to process, at low cost.
The content of the invention
A kind of robot it is an object of the invention to provide Ackerman principle hangs steering mechanism, to solve above-mentioned background
Technology there are the problem of.
To achieve the above object, the present invention provides following technical solution：A kind of robot suspension of Ackerman principle turns to
Mechanism includes wheel, damping spring, spring upper bracket, electric pushrod stent, push-rod electric machine, rod shaft catch, steering linkage
Pivoted arm, pull rod pivoted arm block, spring lower carriage, wheel axle bed, spring supporting axis, U-shaped frame, rod shaft, steering linkage and a left side
Axle block, the wheel of two is symmetrically mounted on the both sides of steering linkage, and the structure of the wheel of two is identical with mounting means,
In the middle side edge of wheel of one be provided with wheel axle bed, spring supporting axis is penetrated in the through hole of the front end of wheel axle bed, and
The both ends of spring supporting axis are connected with U-shaped frame, and the assembly of wheel axle bed and spring supporting axis moves up and down in U-shaped frame, are drawn
In the through hole of the rear end of bar shaft one end insertion wheel axle bed, and the lower end of rod shaft is fixed with rod shaft catch, is turned to
The macropore of pull rod pivoted arm penetrates the upper end of spring supporting axis, and aperture penetrates the upper end of rod shaft, number is evenly equipped in steering linkage
A hole, and one of hole of steering linkage penetrates the upper end of rod shaft, then turned with a rod shaft catch steady brace
The top of axis makes rod shaft be slided up and down between the top surface of steering linkage and the bottom surface of wheel axle bed, pull rod pivoted arm block
Macropore penetrates the upper end of spring supporting axis, and is fixed in U-shaped frame, and pull rod pivoted arm is made to be rotated by the center of circle of spring supporting axis, and
It cannot slide up and down, a set of wheel mechanism is thus formed on the top that the bottom macropore of spring lower carriage penetrates spring supporting axis,
Then electric pushrod stent is mounted in steering linkage, and the projecting shaft of push-rod electric machine is fixed on electric pushrod stent, push rod electricity
The afterbody of machine installs the electric pushrod branch of an electric pushrod stent, and spring upper bracket, U-shaped frame and push-rod electric machine afterbody again
Frame 4 is fixed becomes a whole set of suspension steering mechanism on the car body.
Compared with prior art, the beneficial effects of the invention are as follows：Mechanism is simple in structure, compact.It can realize structure
Miniaturization.Therefore can to avoid existing unmanned vehicle percent of pass it is low the problem of.Also, steering mechanism is according to before designed car body
Rotate what is redesigned to distance between axles and front-rear axle distance.Avoid the generation of car body turning slip, such mechanism and push rod
Motor is used cooperatively, and entire mechanism could work normally.
Description of the drawings
Fig. 1 is existing Ackerman steering gear structure diagram in background technology；
Fig. 2 is the structure diagram of the specific embodiment of the invention one；
Fig. 3 is the structure diagram that Fig. 2 rotates 180 °；
Fig. 4 is the decomposition texture schematic diagram of Fig. 2；
Fig. 5 is the planar structure schematic diagram of Fig. 2；
Fig. 6 is the planar structure schematic diagram of Fig. 3；
Fig. 7 is the enlarged structure schematic diagram of Fig. 2；
Fig. 8 is one integrated model right turn state structure diagram of the specific embodiment of the invention；
Fig. 9 is one integrated model left turn state structure diagram of the specific embodiment of the invention；
Figure 10 is that the wheel axle bed on one right side of the specific embodiment of the invention moves upwards status architecture schematic diagram；
Figure 11 is that the wheel axle bed on one right side of the specific embodiment of the invention moves downward status architecture schematic diagram；
Figure 12 is tooth sector and power gear and steering linkage connection status structure in the specific embodiment of the invention two
Schematic diagram；
Figure 13, which is that integrated model is positive in the specific embodiment of the invention two, exercises status architecture schematic diagram；
Figure 14 is integrated model left turn state structure diagram in the specific embodiment of the invention two；
Figure 15 is integrated model right turn state structure diagram in the specific embodiment of the invention two.
In figure：Wheel 1, damping spring 2, spring upper bracket 3, electric pushrod stent 4, push-rod electric machine 5, rod shaft catch
6th, steering linkage pivoted arm 7, pull rod pivoted arm block 8, spring lower carriage 9, wheel axle bed 10, spring supporting axis 11, U-shaped frame 12, drawing
Bar shaft 13, steering linkage 14 and revolver axle bed 15.
Specific embodiment
Below in conjunction with the attached drawing of the present invention, the specific embodiment of the invention is clearly and completely described, it is clear that
Described specific embodiment is only a present invention part rather than whole embodiments.Based on the reality in the present invention
Apply mode, the every other embodiment that those of ordinary skill in the art are obtained without making creative work,
Belong to the scope of protection of the invention.
Specific embodiment one：Fig. 2-7 are referred to, present embodiment provides a kind of technical solution：A kind of Ackermam
The suspension steering mechanism of robot of principle includes wheel 1, damping spring 2, spring upper bracket 3, electric pushrod stent 4, push rod electricity
Machine 5, rod shaft catch 6, steering linkage pivoted arm 7, pull rod pivoted arm block 8, spring lower carriage 9, wheel axle bed 10, spring supporting
Axis 11, U-shaped frame 12, rod shaft 13, steering linkage 14 and revolver axle bed 15, the wheel 1 of two are symmetrically mounted on steering linkage
14 both sides, and the structure of the wheel 1 of two is identical with mounting means, the middle side edge of the wheel 1 of one of them is provided with vehicle
Axle block 10, spring supporting axis 11 are penetrated in the through hole of the front end of wheel axle bed 10, and the both ends of spring supporting axis 11 and U-shaped frame
The assembly of 12 connections, wheel axle bed 10 and spring supporting axis 11 moves up and down in U-shaped frame 12, the insertion of 13 one end of rod shaft
In the through hole of the rear end of wheel axle bed 10, and the lower end rod shaft catch 6 of rod shaft 13 is fixed, steering linkage pivoted arm 7
Macropore penetrate the upper end of spring supporting axis 11, aperture penetrates the upper end of rod shaft 13, is evenly equipped in steering linkage 14 several
Hole, and one of hole of steering linkage 14 penetrates the upper end of rod shaft 13, then with 6 steady brace of rod shaft catch
The top of shaft 13 makes rod shaft 13 be slided up and down between the top surface of steering linkage 14 and the bottom surface of wheel axle bed 10, pull rod
The macropore of pivoted arm block 8 penetrates the upper end of spring supporting axis 11, and is fixed in U-shaped frame 12, makes pull rod pivoted arm 7 with spring supporting
Axis 11 rotates for the center of circle, and cannot slide up and down, and the bottom macropore of spring lower carriage 9 penetrates the top of spring supporting axis 11 so
With regard to forming a set of wheel steering mechanism, then electric pushrod stent 4 is mounted in steering linkage 14, the projecting shaft of push-rod electric machine 5
It being fixed on electric pushrod stent 4, the afterbody of push-rod electric machine 5 installs an electric pushrod stent 4, and spring upper bracket 3 again,
The electric pushrod stent 4 of 5 afterbody of U-shaped frame 12 and push-rod electric machine is fixed becomes a whole set of suspension steering mechanism on the car body.
This Ackerman principle robot suspension steering mechanism operation principle be：With reference to shown in Fig. 8, when push-rod electric machine 5
Stretching elongate axis when, promote steering linkage 14, steering linkage 14 drive two rod shafts 13, rod shaft 13 drive right side
Steering linkage pivoted arm 7 and wheel axle bed 10, the pull rod pivoted arm 7 in left side and revolver axle bed 15, while the spring each to penetrate
Support shaft 11 rotates for the center of circle, and right wheel outwards rotates, and revolver inwardly rotates, and entire car body is turned right；
With reference to shown in Fig. 9, when the projecting shaft of push-rod electric machine 5 is shunk, steering linkage 14 is retracted；Steering linkage 14 drives two
A rod shaft 13, steering linkage shaft 13 drive the steering linkage pivoted arm 7 in left side and revolver axle bed 15, the pull rod pivoted arm on right side
7 and wheel axle bed 10, while rotated with the spring supporting axis 11 each penetrated for the center of circle, revolver outwards rotates, and right wheel is to inward turning
Turn, entire car body turns left；
With reference to shown in Figure 10, when right wheel moves upwards, wheel axle bed 10 also moves upwards, 13 quilt of rod shaft on right side
It drives and stretches out upwards；
With reference to shown in Figure 11, when right wheel moves downward, wheel axle bed 10 also moves downward, and the rod shaft on right side is by band
Dynamic retracted downward because the bottom surface of steering linkage 14 can only be slided on the top surface of the two pull rod pivoted arms 7 in left and right, no matter vehicle
How wheel moves up and down, and steering linkage 14 is all remained on same horizontal plane and moved.
Specific embodiment two：With reference to Figure 12, present embodiment with specific embodiment one the difference is that
The push-rod electric machine 5 replaces with a pair of of gear, tooth sector a and power gear b, and the middle position of steering linkage 14 is fixed
One pull rod traveller 5-1, pull rod traveller 5-1 slidably reciprocate in the sliding slot c of tooth sector a, and tooth sector a is by power gear
B drives transmission, and power gear b is drivingly connected with motor, other compositions and connection relation are same as the specific embodiment one.
With reference to 13-15, the present embodiment course of work is：When the sliding slot of tooth sector a it is parallel with wheel 1 when
It waits, car body forward direction traveling ahead, when power gear b rotates, and drive steering tooth a wheels rotate clockwise, the sliding slot of tooth sector a
Pull rod traveller 5-1 is driven to deflect to the right, at this moment car body turns left；When power gear b drives tooth sector a to rotate counterclockwise,
The sliding slot of tooth sector a drives steering linkage traveller 5-1 to deflect to the left, and at this moment car body is turned right.
While embodiments of the present invention have been illustrated and described, for the ordinary skill in the art, may be used
A variety of to the progress of these embodiments can be changed without departing from the principles and spirit of the present invention with understanding, changed,
Replacement and modification, the scope of the present invention is defined by the appended.
Claims (4)
1. a kind of suspension steering mechanism of robot of Ackerman principle, it is characterised in that：It includes wheel (1), damping spring
(2), spring upper bracket (3), electric pushrod stent (4), push-rod electric machine (5), rod shaft catch (6), steering linkage pivoted arm
(7), pull rod pivoted arm block (8), spring lower carriage (9), wheel axle bed (10), spring supporting axis (11), U-shaped frame (12), pull rod
Shaft (13), steering linkage (14) and revolver axle bed (15), the wheel (1) of two are symmetrically mounted on the two of steering linkage (14)
Side, and the structure of the wheel (1) of two is identical with mounting means, the middle side edge of the wheel (1) of one of them is provided with wheel
Axle bed (10), spring supporting axis (11) are penetrated in the through hole of the front end of wheel axle bed (10), and the both ends of spring supporting axis (11)
It is connected with U-shaped frame (12), the assembly of wheel axle bed (10) and spring supporting axis (11) moves up and down in U-shaped frame (12), draws
In the through hole of the rear end of bar shaft (13) one end insertion wheel axle bed (10), and the lower end of rod shaft (13) is kept off with rod shaft
Piece (6) is fixed, and the macropore of steering linkage pivoted arm (7) penetrates the upper end of spring supporting axis (11), and aperture penetrates rod shaft (13)
Upper end, be evenly equipped with several holes in steering linkage (14), and one of hole of steering linkage (14) penetrates rod shaft (13)
Upper end, then the top with rod shaft catch (6) steady brace shaft (13) makes rod shaft (13) in steering linkage
(14) slided up and down between top surface and the bottom surface of wheel axle bed (10), the macropore of pull rod pivoted arm block (8) penetrates spring supporting axis
(11) upper end, and be fixed in U-shaped frame (12), pull rod pivoted arm (7) is made to be rotated with spring supporting axis (11) for the center of circle, and cannot
It slides up and down, the top that the bottom macropore of spring lower carriage (9) penetrates spring supporting axis (11) thus forms a set of wheel and turns
To mechanism, then electric pushrod stent (4) is mounted in steering linkage (14), and the projecting shaft of push-rod electric machine (5) is fixed on electronic
On pusher bar support (4), the afterbody of push-rod electric machine (5) installs an electric pushrod stent (4), and spring upper bracket (3), U again
The electric pushrod stent (4) of type frame (12) and push-rod electric machine (5) afterbody is fixed to become a whole set of suspension turning machine on the car body
Structure.
2. a kind of suspension steering mechanism of robot of Ackerman principle according to claim 1, it is characterised in that：Described
Suspension steering mechanism operation principle be：When the stretching elongate axis of push-rod electric machine (5), steering linkage (14) is promoted, turns to and draws
Bar (14) drives two rod shafts (13), and rod shaft (13) drives the steering linkage pivoted arm (7) on right side and wheel axle bed
(10), the pull rod pivoted arm (7) in left side and revolver axle bed (15), while revolved with the spring supporting axis (11) each penetrated for the center of circle
Turn, right wheel outwards rotates, and revolver inwardly rotates, and entire car body is turned right；
When the projecting shaft of push-rod electric machine (5) is shunk, steering linkage (14) is retracted；Steering linkage (14) drives two rod shafts
(13), steering linkage shaft (13) drives the steering linkage pivoted arm (7) in left side and revolver axle bed (15), the pull rod pivoted arm on right side
(7) and wheel axle bed (10), while with the spring supporting axis (11) each penetrated rotated for the center of circle, revolver outwards rotates, right wheel
Inwardly rotation, entire car body turn left；
When right wheel moves upwards, wheel axle bed (10) also moves upwards, and the rod shaft (13) on right side is driven upward stretching；
When right wheel moves downward, wheel axle bed (10) also moves downward, and the rod shaft on right side is driven retracted downward, because
The bottom surface of steering linkage (14) can only be slided on the top surface for controlling two pull rod pivoted arms (7), so no matter how upper and lower wheel is
Movement, steering linkage (14), which is all remained on same horizontal plane, to be moved.
3. a kind of suspension steering mechanism of robot of Ackerman principle according to claim 1, it is characterised in that：Described
Push-rod electric machine (5) replaces with a pair of of gear, tooth sector (a) and power gear (b), and the middle position of steering linkage (14) is consolidated
A fixed pull rod traveller (5-1), pull rod traveller (5-1) slidably reciprocates in the sliding slot (c) of tooth sector (a), and tooth sector
(a) driven and be driven by power gear (b), and power gear (b) is drivingly connected with motor.
4. the suspension steering mechanism of robot of a kind of Ackerman principle according to claim 3, it is characterised in that described
Tooth sector (a) and the operation principle of power gear (b) are：When the sliding slot of tooth sector (a) it is parallel with wheel (1) when,
Car body forward direction traveling ahead, when power gear (b) rotates, and drive steering tooth (a) wheel rotates clockwise, tooth sector (a)
Sliding slot drives pull rod traveller (5-1) to deflect to the right, and at this moment car body turns left；When power gear (b) drives tooth sector (a) inverse time
When pin rotates, the sliding slot (c) of tooth sector (a) drives steering linkage traveller (5-1) to deflect to the left, and at this moment car body is turned right.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711398523.6A CN108116175A (en) | 2017-12-21 | 2017-12-21 | A kind of robot suspension steering mechanism of Ackerman principle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711398523.6A CN108116175A (en) | 2017-12-21 | 2017-12-21 | A kind of robot suspension steering mechanism of Ackerman principle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108116175A true CN108116175A (en) | 2018-06-05 |
Family
ID=62231250
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711398523.6A Pending CN108116175A (en) | 2017-12-21 | 2017-12-21 | A kind of robot suspension steering mechanism of Ackerman principle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108116175A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109367615A (en) * | 2018-10-12 | 2019-02-22 | 浙江农林大学 | A kind of automatic navigation vehicle based on super-broadband tech |
| CN110640716A (en) * | 2019-11-07 | 2020-01-03 | 江西清研智虎机器人有限公司 | Mobile robot chassis |
| CN114590094A (en) * | 2022-03-28 | 2022-06-07 | 智己汽车科技有限公司 | Structure and method for roll control of lift car body |
-
2017
- 2017-12-21 CN CN201711398523.6A patent/CN108116175A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109367615A (en) * | 2018-10-12 | 2019-02-22 | 浙江农林大学 | A kind of automatic navigation vehicle based on super-broadband tech |
| CN110640716A (en) * | 2019-11-07 | 2020-01-03 | 江西清研智虎机器人有限公司 | Mobile robot chassis |
| CN114590094A (en) * | 2022-03-28 | 2022-06-07 | 智己汽车科技有限公司 | Structure and method for roll control of lift car body |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180605 |
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| WD01 | Invention patent application deemed withdrawn after publication |