CN108482480A - A kind of revolving support running gear - Google Patents
A kind of revolving support running gear Download PDFInfo
- Publication number
- CN108482480A CN108482480A CN201810527369.6A CN201810527369A CN108482480A CN 108482480 A CN108482480 A CN 108482480A CN 201810527369 A CN201810527369 A CN 201810527369A CN 108482480 A CN108482480 A CN 108482480A
- Authority
- CN
- China
- Prior art keywords
- revolving support
- wheel
- running gear
- vehicle frame
- transmission mechanism
- 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
- 230000005540 biological transmission Effects 0.000 claims abstract description 26
- 238000000034 method Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000005096 rolling process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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
- B62D5/0421—Electric motor acting on or near steering gear
-
- 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
- B62D3/04—Steering gears mechanical of worm type
- B62D3/10—Steering gears mechanical of worm type with worm engaging in sector or roller gear
-
- 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
- B62D5/0442—Conversion of rotational into longitudinal movement
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Gear Transmission (AREA)
Abstract
The present invention provides a kind of revolving support running gear, including vehicle frame, at least three leg structures, the leg structure includes wheel and wheel stand, it is connected by revolving support between the wheel stand and the vehicle frame, to realize being rotatably connected between wheel stand and vehicle frame, the revolving support includes relatively turnable outer ring and inner ring, the outer surface of the outer ring is equipped with driving cog, the driving cog connects transmission mechanism by ratcheting fashion, the transmission mechanism connects revolution driving, the revolution driving realizes that the rotation of revolving support controls by transmission mechanism, the wheel is driven by independent driving device, there is certain distance between the vertical centerline of the wheel and the central axes of the revolving support.The technical solution course changing control is laborsaving, can realize that translation is turned around, and operation blind area is small, effectively reduces crops damage, and can realize big wide cut operation.
Description
Technical field
The present invention relates to agricultural mechanical fields, and in particular to a kind of revolving support running gear.
Background technology
Traditional agricultural machinery running gear is mainly four wheeled running gear, when to realize that four wheeled running gear turns to
Resistance is small and smoothly turns to, it is desirable that steering can guarantee that all wheels make pure rolling, it is clear that this only exists when turning to
The axis of all wheels can be realized when all intersecting at a bit, i.e., only when the deflection angle of inboard wheel is more than the inclined of outboard wheels
Corner, this just needs complicated steering mechanism to carry out angular adjustment compensation, and the infrastructure cost of steering mechanism is higher；Simultaneously in reality
Using when offset angle it is often inaccurate, in two front-wheels at least one can slightly break away or skid, turn to the resistance being subject to
Power is larger, turns to difficult；Meanwhile the turning radius of the four wheeled running gear of tradition is larger, in farm work with larger
Operation blind area, production efficiency cannot meet operation needs；Further, since structure limits, the narrower width of existing running gear,
Span is smaller, and disposable operation limited extent cannot be satisfied the sharp work demand in large area field.
Invention content
In view of the deficiencies of the prior art, the present invention provides a kind of revolving support running gear, the running gear structure letters
Single, steering is conveniently, it can be achieved that translation and big wide cut operation.
In order to achieve the above object, the present invention is achieved by the following technical programs：
A kind of revolving support running gear, including vehicle frame, at least three leg structures, the leg structure include wheel and wheel
Holder is connected between the wheel stand and the vehicle frame by revolving support, to realize between wheel stand and vehicle frame
It is rotatably connected, the revolving support includes relatively turnable outer ring and inner ring, and the outer surface of the outer ring is equipped with transmission
Tooth, the driving cog connect transmission mechanism by ratcheting fashion, and the transmission mechanism connects revolution driving, and the revolution driving is logical
Cross the rotation control that transmission mechanism realizes revolving support, the wheel drives by independent driving device, the wheel it is vertical
There is certain distance between center line and the central axes of the revolving support.
Further, the transmission mechanism includes worm screw and case, and the main part of the worm screw is arranged in the case
Interior, one end of the worm screw passes through the case to connect the revolution driving.
Further, the transmission mechanism is fixedly connected with the vehicle frame.
Further, the driving device is driving motor, and the driving motor connects the wheel by retarder.
Further, the leg structure quantity is three, and three leg structures are distributed at isosceles triangle.
Further, the vehicle frame is rotatably connected by multiple Frame units and is constituted, to realize adjacent carrier unit it
Between horizontal direction it is rotatable, set that there are two leg structures below each Frame unit, two leg structures are about Frame unit
Central symmetry.
Further, described worm screw one end is connected with encoder.
The beneficial effects of the invention are as follows：The revolving support running gear of the present invention, can lead between leg structure and vehicle frame
It crosses revolving support realization to rotate relatively freely, frame-steering is realized with respect to revolving support center rotating by wheel, it is simple in structure,
Turn to convenient and strength-saving, and the relative rotation angle between leg structure and vehicle frame is unrestricted, can realize that 90 degree of wheel turn
It is dynamic, realize the translation of vehicle frame；The ratcheting connection transmission mechanism in revolving support outer ring simultaneously, transmission mechanism connect revolution driving, revolution
Driving provides power and passes to revolving support outer ring by transmission mechanism, with certain rotation when driving revolving support rotation
The arm of force can use smaller revolution driving that the control of revolving support can be realized, save equipment cost；The dress of the walking simultaneously
Translation can be realized by setting, and keep the turning radius of running gear smaller, not will produce sliding, be turned to simpler.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Obtain other attached drawings according to these attached drawings.
Fig. 1 is the overall structure diagram of the embodiment of the present invention 1；
Fig. 2 is the single leg structure of the present invention and its connection component schematic diagram；
Overall structure diagram when Fig. 3 is the straight-going state of the embodiment of the present invention 2；
Overall structure diagram when Fig. 4 is the translation state of the embodiment of the present invention 2.
Specific implementation mode
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
The every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
The present invention will be further described in the following with reference to the drawings and specific embodiments：
Embodiment 1
As shown in Figure 1 and Figure 2, a kind of revolving support running gear provided by the invention, including vehicle frame 1, at least three supporting leg knots
Structure, leg structure quantity is three in the present embodiment, and three leg structures are distributed at isosceles triangle, and the leg structure includes
Wheel 3 and wheel stand 2, are connected between the wheel stand 2 and the vehicle frame 1 by revolving support 4, to realize wheel branch
Being rotatably connected between frame 2 and vehicle frame 1, the revolving support 4 include relatively turnable outer ring 402 and inner ring 401, outer ring
Rolling element is equipped between 402 and inner ring 401, the outer surface of the outer ring 402 is equipped with driving cog, and the driving cog passes through ratcheting
Mode connects transmission mechanism 7, and the transmission mechanism 7 connects revolution driving 6, and the revolution driving 6 is realized back by transmission mechanism 7
Turn the rotation control of support 4, the transmission mechanism 7 includes worm screw 701 and case 702, and the main part of the worm screw 701 is arranged
In the case 702,701 one end of the worm screw connects the revolution driving 6 across the case 702,701 spiral shell on worm screw
It revolves tooth and completes transmission with the driving cog cooperation on outer ring 402, revolution driving 6 selects stepper motor or servo motor, revolution driving 6
The rotation of connection driving worm screw 701, and then control driving outer ring 402 and rotate with respect to inner ring 401, since outer ring 402 is fixed
Wheel stand 2 is connected, inner ring 401 is fixedly connected with vehicle frame 1, that is, realizes the rotation control of 2 relative frame 1 of wheel stand, that is, realize
The steering of leg structure accurately controls；The wheel 3 is driven by independent driving device 8, and in the present embodiment, driving device 8 is
Driving motor, driving motor connect wheel 3 by retarder 9, and driving motor and retarder 9 are fixedly connected in wheel stand 2
On, there is certain distance between the vertical centerline of the wheel 3 and the central axes of the revolving support 4.
The transmission mechanism 7 is fixedly connected with the vehicle frame 1, to support transmission mechanism 7；Further, as shown in Fig. 2, institute
It states worm screw one end and is connected with encoder 10, by controlling the rotating speed of revolution driving 6, while passing through the encoder 10 on worm screw 701
Accurately controlling for worm screw rotation is carried out, to realize accurately controlling for revolving support, and then completes the accurate steering of vehicle frame.
Embodiment 2
Revolving support running gear shown in the present embodiment, structural principle and embodiment 1 are essentially identical, unlike, this reality
It applies vehicle frame 1 described in example and is rotatably connected by three Frame units and constituted, specifically, as shown in figure 3, passing through the first vehicle frame list
First 101, second Frame unit 102 and third Frame unit 103 are connected by horizontal direction rotating pin 5, adjacent to realize
Horizontal direction between Frame unit is rotatable, the first Frame unit 101, the second Frame unit 102 and third Frame unit 103
Lower section be all provided with there are two leg structure, central symmetry of two leg structures about corresponding Frame unit, leg structure equally wraps
Wheel 3 and wheel stand 2 are included, is connected by revolving support 4 between wheel stand 2 and corresponding Frame unit, revolving support 4 is same
Sample realizes that transmission control, the vehicle frame of the present embodiment are connected in series with structure by three Frame units by revolution driving 6 by transmission mechanism 7
At horizontal span is larger, and operation amplitude is wider, can disposably realize that the operation in wider field, operating efficiency are high；The present embodiment
Running gear need to turn around operation when, directly control each leg structure and rotate 90 degree, vehicle frame angle is constant, as shown in figure 4,
It after controlling leg structure drive vehicle frame translation certain distance, then controls leg structure and is rotated further 90 degree, you can complete vehicle frame and fall
Head, the operation walking non-blind area of running gear.
Certainly, the vehicle frame of the present embodiment also can by four, five and more Frame unit is rotatably connected and constitutes, with
The working width for realizing bigger, can effectively improve operating efficiency.
It should be noted that herein, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also include other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in process, method, article or equipment including the element.Above example is only saying
Bright technical scheme of the present invention, rather than its limitations；Although the present invention is described in detail referring to the foregoing embodiments, originally
The those of ordinary skill in field should understand that：Its still can with technical scheme described in the above embodiments is modified,
Or equivalent replacement of some of the technical features；And these modifications or replacements, do not make the sheet of corresponding technical solution
Matter is detached from the spirit and scope of various embodiments of the present invention technical solution.
Claims (7)
1. a kind of revolving support running gear, it is characterised in that：Including vehicle frame, at least three leg structures, the leg structure
Including wheel and wheel stand, it is connected by revolving support between the wheel stand and the vehicle frame, to realize wheel branch
Being rotatably connected between frame and vehicle frame, the revolving support include relatively turnable outer ring and inner ring, the outer ring it is outer
Surface is equipped with driving cog, and the driving cog connects transmission mechanism by ratcheting fashion, and the transmission mechanism connects revolution driving,
The revolution driving realizes that the rotation of revolving support controls by transmission mechanism, and the wheel is driven by independent driving device,
There is certain distance between the vertical centerline of the wheel and the central axes of the revolving support.
2. revolving support running gear as described in claim 1, it is characterised in that：The transmission mechanism includes worm screw and cover
The main part of shell, the worm screw is arranged in the case, and described worm screw one end passes through the case to connect the revolution and drives
It is dynamic.
3. revolving support running gear as claimed in claim 1 or 2, it is characterised in that：The transmission mechanism is fixedly connected with institute
State vehicle frame.
4. revolving support running gear as described in claim 1, it is characterised in that：The driving device is driving motor, institute
It states driving motor and the wheel is connected by retarder.
5. revolving support running gear as described in claim 1, it is characterised in that：The leg structure quantity be three, three
A leg structure is distributed at isosceles triangle.
6. revolving support running gear as described in claim 1, it is characterised in that：The vehicle frame can be turned by multiple Frame units
It is dynamic to connect and compose, to realize that the horizontal direction between adjacent carrier unit is rotatable, set below each Frame unit there are two
Leg structure, central symmetry of two leg structures about Frame unit.
7. revolving support running gear as claimed in claim 2, it is characterised in that：Described worm screw one end is connected with encoder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810527369.6A CN108482480A (en) | 2018-05-26 | 2018-05-26 | A kind of revolving support running gear |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810527369.6A CN108482480A (en) | 2018-05-26 | 2018-05-26 | A kind of revolving support running gear |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108482480A true CN108482480A (en) | 2018-09-04 |
Family
ID=63351979
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810527369.6A Pending CN108482480A (en) | 2018-05-26 | 2018-05-26 | A kind of revolving support running gear |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108482480A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109515556A (en) * | 2018-12-29 | 2019-03-26 | 江苏速升自动化装备股份有限公司 | A kind of vehicle with car body in taking turns |
| CN109760764A (en) * | 2019-02-01 | 2019-05-17 | 广州极飞科技有限公司 | Plant protection unmanned vehicle supporting leg and plant protection unmanned vehicle |
| CN110001768A (en) * | 2019-04-28 | 2019-07-12 | 山东华力机电有限公司 | A kind of steering wheel structure and the AGV using the steering wheel |
| CN110424231A (en) * | 2019-08-29 | 2019-11-08 | 嘉鹏再升科技（深圳）股份有限公司 | A kind of in-situ heat regeneration heater of heating surface adjustable angle |
| CN110453580A (en) * | 2019-08-29 | 2019-11-15 | 嘉鹏再升科技（深圳）股份有限公司 | A kind of gradient road-surface heating method for in-situ heat regeneration |
| CN112009225A (en) * | 2020-08-12 | 2020-12-01 | 北京电子科技职业学院 | Vehicle translation drive assembly and vehicle |
| CN112498470A (en) * | 2020-12-02 | 2021-03-16 | 北京红胡子机器人科技有限公司 | Wheel assembly and multi-angle driving vehicle |
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| CN107399364A (en) * | 2017-06-20 | 2017-11-28 | 江苏大学 | A kind of more ground gap self-steering mechanism |
| CN107933690A (en) * | 2018-01-13 | 2018-04-20 | 安徽智泉农业科技有限公司 | A kind of agricultural machinery body construction and agricultural machinery |
| CN208264338U (en) * | 2018-05-26 | 2018-12-21 | 苏州智泉农业科技有限公司 | A kind of revolving support running gear |
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2018
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010012953A (en) * | 2008-07-03 | 2010-01-21 | Nsk Ltd | Electric power steering device and electric motor for electric power steering device |
| CN104527323A (en) * | 2014-12-17 | 2015-04-22 | 中国航空工业集团公司北京航空精密机械研究所 | Wheel set integrating driving function and steering function |
| CN204956616U (en) * | 2015-08-21 | 2016-01-13 | 郑州飞机装备有限责任公司 | Place transport vechicle is with automatically controlled hydraulic pressure four wheel steering mechanism |
| CN107161238A (en) * | 2016-03-08 | 2017-09-15 | 深圳先进技术研究院 | Electric platforms |
| CN106005097A (en) * | 2016-07-12 | 2016-10-12 | 秦广泉 | Agricultural machine vehicle body structure |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109515556A (en) * | 2018-12-29 | 2019-03-26 | 江苏速升自动化装备股份有限公司 | A kind of vehicle with car body in taking turns |
| CN109760764A (en) * | 2019-02-01 | 2019-05-17 | 广州极飞科技有限公司 | Plant protection unmanned vehicle supporting leg and plant protection unmanned vehicle |
| CN110001768A (en) * | 2019-04-28 | 2019-07-12 | 山东华力机电有限公司 | A kind of steering wheel structure and the AGV using the steering wheel |
| CN110424231A (en) * | 2019-08-29 | 2019-11-08 | 嘉鹏再升科技（深圳）股份有限公司 | A kind of in-situ heat regeneration heater of heating surface adjustable angle |
| CN110453580A (en) * | 2019-08-29 | 2019-11-15 | 嘉鹏再升科技（深圳）股份有限公司 | A kind of gradient road-surface heating method for in-situ heat regeneration |
| CN112009225A (en) * | 2020-08-12 | 2020-12-01 | 北京电子科技职业学院 | Vehicle translation drive assembly and vehicle |
| CN112498470A (en) * | 2020-12-02 | 2021-03-16 | 北京红胡子机器人科技有限公司 | Wheel assembly and multi-angle driving vehicle |
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