CN110103641A - Wheel for motor vehicle distance regulating mechanism and its control method - Google Patents
Wheel for motor vehicle distance regulating mechanism and its control method Download PDFInfo
- Publication number
- CN110103641A CN110103641A CN201910416141.4A CN201910416141A CN110103641A CN 110103641 A CN110103641 A CN 110103641A CN 201910416141 A CN201910416141 A CN 201910416141A CN 110103641 A CN110103641 A CN 110103641A
- Authority
- CN
- China
- Prior art keywords
- wheel
- wheelspan
- motor
- steering
- encoder
- 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.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B35/00—Axle units; Parts thereof ; Arrangements for lubrication of axles
- B60B35/02—Dead axles, i.e. not transmitting torque
- B60B35/10—Dead axles, i.e. not transmitting torque adjustable for varying track
- B60B35/1036—Dead axles, i.e. not transmitting torque adjustable for varying track operated with power assistance
- B60B35/1045—Dead axles, i.e. not transmitting torque adjustable for varying track operated with power assistance electrically
Abstract
The invention discloses a kind of wheel for motor vehicle distance regulating mechanisms, including vehicle frame, it is characterized by: the center of vehicle frame, which is equipped with wheelspan, adjusts motor, it is double output shaft that wheelspan, which adjusts motor, reduction gearbox R and reduction gearbox L are installed at its both ends respectively, reduction gearbox is double output shaft worm gear mechanism, reduction gearbox output shaft one of those encoder B is installed, reduction gearbox output shaft is separately connected the rear end of bolt and nut mechanism by universal joint, the front end of 4 bolt and nut mechanisms is separately mounted on 4 angles of vehicle frame, bolt and nut mechanism is provided with expansion bracket, 4 expansion bracket front ends, which are mounted on, turns to executing agency, it turns to and wheel is installed in executing agency, it turns to and is also equipped with wheel drive motors in executing agency, bottom of frame is equipped with bottom plate, bottom plate is equipped with dynamical system and control system.The present invention has the characteristics that simple structure and reasonable design, purposes are wide, practical.
Description
Technical field
The present invention relates to a kind of wheel tread adjusting mechanism and its control method, especially a kind of wheel for motor vehicle distance regulating mechanism and
Its control method.
Background technique
Existing wheel for motor vehicle distance regulating mechanism has plenty of using manually that wheel is outward or mobile by Track width inwards
Increase or reduce, also have using screw rod or electric pushrod mode regulating wheel away from, but it is most of be only adjust motor vehicle left and right wheels it
Between wheelspan width, or only adjust motor vehicle front and back wheel between wheelspan length, and use multiple motor drivens.Motor vehicle
Length and width design be all individually to be adjusted between left and right wheels according to the multifactor consideration such as different purposes, load-bearing, harmony
The width of wheelspan or the length for individually adjusting wheelspan between front and back wheel are all easy to tie up the stability and harmony of car body and installation
Shield generates certain influence, in addition, the adjusting of existing wheelspan must just can be carried out in the state of parking.
Summary of the invention
In order to overcome wheelspan in the prior art adjusting to be only capable of carrying out under dead ship condition, by the way of mutual disassembly,
Only adjust Track width or only regulating wheel away from length the deficiencies of, the present invention provides a kind of wheel for motor vehicle distance regulating mechanism and its control
Method processed, can when motor vehicle stops and in traveling, can be completed at the same time between left and right wheels the width adjusting of wheelspan and before
The length adjustment of wheelspan between rear-wheel.
The technical solution adopted by the present invention to solve the technical problems is: a kind of wheel for motor vehicle distance regulating mechanism, including vehicle
Frame, the center of vehicle frame are equipped with wheelspan and adjust motor, and it is double output shaft that wheelspan, which adjusts motor, and deceleration is installed at both ends respectively
Case R and reduction gearbox L, reduction gearbox be double output shaft worm gear mechanism, reduction gearbox output shaft one of those encoder is installed
B, reduction gearbox output shaft are separately connected the rear end of bolt and nut mechanism, the front end difference of 4 bolt and nut mechanisms by universal joint
It is mounted on 4 angles of vehicle frame, bolt and nut mechanism is provided with expansion bracket, and 4 expansion bracket front ends, which are mounted on, turns to execution machine
Structure turns to and is equipped with wheel in executing agency, and wheel includes the near front wheel, off-front wheel, left rear wheel and off hind wheel, turns to executing agency
On be also equipped with wheel drive motors, bottom of frame is equipped with bottom plate, and bottom plate is equipped with dynamical system and control system.
Above-mentioned wheel for motor vehicle distance regulating mechanism, the steering executing agency are provided with steering column, turn to column bottom installation
There is wheel crotch, wheel is installed on wheel crotch, wheel is equipped with brake device of electric, connects steering motor at the top of steering column,
Steering motor is equipped with encoder A, and the fixed device of wheel drive motors, the fixed dress of wheel drive motors are also equipped on steering column
Fixing vehicle wheel driving motor is set, the combination bearing of steering column installation is fixed on expansion bracket front end for executing agency is turned to.
Above-mentioned wheel for motor vehicle distance regulating mechanism, the bolt and nut mechanism include screw rod, nut and rectangular fixed frame, side
The front-end and back-end of shape fixed frame are respectively arranged with front limit switch and rear limit switch, and front limit switch is mounted on adjustable wheel
Away from maximum position at, rear limit switch is mounted at the minimum position of adjustable track, two in the front end of rectangular fixed frame
Side is also separately installed with bearing b, the rolling surface of bearing b respectively on expansion bracket bearing b guide groove bottom, in rectangular fixed frame
The rear end lower section of top surface contact, expansion bracket is equipped with bearing a, and bearing a is contacted with the inner bottom surface of rectangular fixed frame；The deceleration
2 bolt and nut mechanisms of case R connection, it is reversely the 2 of the reduction gearbox L connection that screw flight one, which is positive one,
A bolt and nut mechanism, the same forward direction of screw flight one reversed.
Above-mentioned wheel for motor vehicle distance regulating mechanism, the wheel drive motors are to be symmetrically installed, the driving motor of preceding two-wheeled
The top behind front-wheel, the driving motor of rear 2 wheel are located at top before rear-wheel, install on wheel drive motors output shaft
There is transmission gear, gear drive group is connected by chain with the transmission gear of rotation shaft of wheel installation.
Above-mentioned wheel for motor vehicle distance regulating mechanism, the wheelspan adjust motor can between front and back wheel wheelspan length and
Track width between left and right wheels synchronizes adjustment, and the double output shaft that the wheelspan adjusts motor may be arranged as long axis,
In the case where fame dimensions are constant, wheelspan adjusts motor per revolution, and the wheelspan adjustable range between front and back wheel is greater than
Wheelspan adjustable range between left and right wheels；The double output shaft of the reduction gearbox R and reduction gearbox L may be arranged as long axis, in vehicle
Frame size constancy and wheelspan are adjusted in the case that motor output shaft is short axle, and wheelspan adjusts motor per revolution, front and back wheel it
Between wheelspan adjustable range be less than the wheelspan adjustable range between left and right wheels.
The code-disc of above-mentioned wheel for motor vehicle distance regulating mechanism, the encoder B is fixed on reduction gearbox output shaft, encoder
B is used to detect the revolving speed and turnning circle of output shaft or screw rod, when carrying out wheelspan adjusting, revolving speed that encoder B will test
It is transferred to control system with information such as circle numbers, control system is according to the angle installed between existing bolt and nut mechanism and vehicle frame
The information such as degree, screw pitch on screw rod and wheel for motor vehicle away from minimum position, maximum position and existing position etc., calculate wheelspan
Exact value before adjusting and after adjusting.
Above-mentioned wheel for motor vehicle distance regulating mechanism, the control system fifth wheel away from adjust motor, wheel drive motors, turn
To motor, encoder A, front limit switch, rear limit switch, encoder B, controller and dynamical system；The dynamical system is
Above-mentioned component provides electric power.
Above-mentioned wheel for motor vehicle distance regulating mechanism, the controller are provided with power switch, stop key, brake key, preceding limit
Position indicator light limits indicator light, wheelspan increasing operation key and wheelspan reduction operation key afterwards；The wheelspan increases operation key and wheelspan
Reduction operation key is point operation control；The information and data of the controller and control system are transmitted as wired or wireless way.
A kind of control method of wheel for motor vehicle distance regulating mechanism, the wheelspan including motor vehicle halted state increase controlling party
Method, motor vehicle halted state wheelspan reduce control method, the wheelspan in motor-driven vehicle going increases control method, motor-driven vehicle going
In wheelspan reduce control method；
The wheelspan of the motor vehicle halted state increases control method:
Step 1: powering on, press wheelspan and increase operation key, control system detects wheel present position, when wheel is in wheelspan
When maximum position, front limit switch is connected, front limit indicator light is bright, and prompt can not increase wheelspan；When wheel is in wheelspan minimum
When between position and maximum position, brake device of electric releasing of brake；
Step 2: steering motor starting, in which: the corresponding steering motor of the near front wheel rotates counterclockwise, when its encoder A is according to
The motor rotational angle of setting, when detecting that the direction of wheel is consistent with its expansion bracket launch direction, steering motor stops operating；
Meanwhile the corresponding steering motor of off-front wheel rotates clockwise, when its encoder A detects that the direction of wheel and its expansion bracket are released
When direction is consistent, steering motor stops operating；Meanwhile the corresponding steering motor of left rear wheel rotates clockwise, when its encoder A is examined
Measure wheel direction it is consistent with its expansion bracket launch direction when, steering motor stops operating；Meanwhile the corresponding steering of off hind wheel
Motor rotates counterclockwise, when its encoder A detect wheel direction it is consistent with its expansion bracket launch direction when, steering motor is stopped
Rotation stop is dynamic；
Step 3: wheelspan adjusts motor and rotates forward or backwards, by bolt and nut mechanism by 4 expansion brackets and wheel simultaneously to
Extrapolated, the length and width of wheelspan increases simultaneously；
Step 4: when wheelspan is adjusted to required position, unclamping wheelspan and increase operation key, wheelspan adjusts motor stalls；
Step 5: all steering motor rotations, rotation direction and step 2 are on the contrary, when each encoder A detects that wheel transfers back to just
When the angle of beginning state, 4 steering motors stop operating；
Step 6: brake device of electric starting brake；
The wheelspan of the motor vehicle halted state reduces control method:
Step 1: powering on, press wheelspan reduction operation key, control system detects wheel present position, when wheel is in wheelspan
When minimum position, rear limit switch is connected, rear limit indicator light is bright, and prompt can not reduce wheelspan；When wheel is in wheelspan maximum
When between position and minimum position, brake device of electric releasing of brake；
Step 2: steering motor starting, in which: the corresponding steering motor of the near front wheel rotates counterclockwise, when its encoder A is detected
When the direction of wheel is consistent with its expansion bracket incoming direction, steering motor stops operating；Meanwhile the corresponding steering motor of off-front wheel
Rotate clockwise, when its encoder A detect wheel direction it is consistent with its expansion bracket incoming direction when, steering motor stop turn
It is dynamic；Meanwhile the corresponding steering motor of left rear wheel rotates clockwise, when its encoder A detects direction and its expansion bracket of wheel
When incoming direction is consistent, steering motor stops operating；Meanwhile the corresponding steering motor of off hind wheel rotates counterclockwise, when its coding
When device A detects that the direction of wheel is consistent with its expansion bracket incoming direction, steering motor stops operating；
Step 3: it is reversed or rotate forward that wheelspan adjusts motor, by bolt and nut mechanism by 4 expansion brackets and wheel simultaneously to
The length and width of interior introducing, wheelspan reduces simultaneously；
Step 4: when wheelspan is adjusted to required position, unclamping wheelspan reduction operation key, wheelspan adjusts motor stalls；
Step 5: all steering motor rotations, rotation direction and step 2 are on the contrary, when encoder A detects that wheel transfers back to initially
When the angle of state, 4 steering motors stop operating；
Step 6: brake device of electric starting brake；
Wheelspan in the motor-driven vehicle going increases control method:
Step 1: pressing wheelspan and increase operation key, wheel drive motors are decelerated to setting speed；
Step 2: steering motor starting, in which: the near front wheel and left rear wheel rotate counterclockwise, when encoder A detects vehicle wheel rotation
When to set angle, steering motor stops operating, meanwhile, off-front wheel and off hind wheel rotate clockwise, when encoder A detects vehicle
When wheel turns to set angle, steering motor stops operating；Meanwhile wheelspan adjusts motor and rotates forward or backwards, passes through screw rod
4 expansion brackets and wheel are pushed outwardly by nut body simultaneously, and the length and width of wheelspan increases simultaneously；
Step 3: when wheelspan is adjusted to required position, unclamping wheelspan and increase operation key, wheelspan adjusts motor stalls；Together
When, all steering motor rotations, rotation direction and step 2 are on the contrary, when encoder A detects that wheel transfers back to the angle of original state
When spending, 4 steering motors stop operating；
Step 4: wheel drive motors are restored to original speed；
Wheelspan in the motor-driven vehicle going reduces control method:
Step 1: pressing wheelspan reduction operation key, wheel drive motors are decelerated to setting speed；
Step 2: steering motor starting, in which: the near front wheel and left rear wheel are rotated clockwise to set angle, and steering motor stops turning
It is dynamic, meanwhile, off-front wheel and off hind wheel rotate counterclockwise to set angle, and steering motor stops operating；Meanwhile wheelspan adjusts motor
It reversely or rotates forward, is directed inwardly into 4 expansion brackets and wheel simultaneously by bolt and nut mechanism, the length and width of wheelspan
It reduces simultaneously；
Step 3: when wheelspan is adjusted to required position, unclamping wheelspan reduction operation key, wheelspan adjusts motor stalls；Simultaneously
All steering motor rotations, rotation direction and step 2 are on the contrary, when encoder A detects that wheel transfers back to the angle of original state
When, 4 steering motors stop operating；
Step 4: wheel drive motors are restored to original speed.
The invention has the advantages that wheelspan adjusting can be carried out under motor vehicle halted state, it can also be in motor vehicle
Wheelspan adjusting is carried out in traveling, and a motor driven is used only, can carry out the width adjusting of wheelspan between left and right wheels simultaneously
The length adjustment of wheelspan between front and back wheel can guarantee the original length-width ratio of body of motor vehicle, can also select as needed
It is set as the different mode that length adjustment is greater than length adjustment greater than width adjusting or width adjusting, the present invention has structure letter
The features such as single, design is rationally, purposes is wide, practical, the energy especially in agriculture field, military industry field and some particular surroundings
Play great effect.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is schematic diagram of the present invention；
Fig. 2 is the schematic diagram along E-E line in Fig. 1；
Fig. 3 is the steering executing agency schematic diagram along F-F line in Fig. 1；
Fig. 4 is bolt and nut structural scheme of mechanism；
Fig. 5 is controller schematic diagram；
Fig. 6 is the structural schematic diagram that wheelspan adjusts that motor output shaft is long axis；
Fig. 7 is the structural schematic diagram that reduction gearbox output shaft is long axis.
1. vehicle frame in figure, 2. bottom plates, 3. wheel drive motors, 4. gear drive groups, 5. left rear wheels, 6. off hind wheels, 7. is right
Front-wheel, 8. the near front wheels, the fixed device of 9. wheel drive motors, 10. turn to executing agency, and 1001. wheel crotch, 1002. turn to
Column, 1003. steering motors, 1004. encoder A, 1005. combination bearings, 11. expansion brackets, 12. bolt and nut mechanisms, 1201. spiral shells
Bar, 1202. nuts, 1203. bearing a, 1204. rectangular fixed frames, 1205. bearing b, 1206. front limit switches, 1207. bearing b
Guide groove, 1208. rear limit switches, 13. control systems, 14. universal joints, 15. wheelspans adjust motor, 16. reduction gearbox R, 17. power
System, 18. reduction gearbox L, 19. controllers, 1901. power switches, 1902. front limit indicator lights, 1903. wheelspans increase operation
Key, 1904. wheelspan reduction operation keys limit indicator light, 1906. brake keys, 1907. stop keys, 20. electric brakes after 1905.
Device, 21. encoder B.
Specific embodiment
[embodiment]
Wheel for motor vehicle distance regulating mechanism includes vehicle frame 1, and the center of vehicle frame 1 is equipped with wheelspan and adjusts motor 15, and wheelspan is adjusted
Motor 15 is double output shaft, and reduction gearbox R16 and reduction gearbox L18 are installed in both ends respectively, and reduction gearbox is double output shaft worm and gear
Mechanism, one of those is equipped with encoder B21 to reduction gearbox output shaft, and reduction gearbox output shaft is separately connected spiral shell by universal joint 14
The rear end of stem nut mechanism 12, the front end of 4 bolt and nut mechanisms are separately mounted on 4 angles of vehicle frame 1, bolt and nut mechanism
12, which are provided with 11,4 expansion bracket front ends of expansion bracket, is mounted on steering executing agency 10, turns to and is equipped with vehicle in executing agency 10
Wheel, wheel include the near front wheel 8, off-front wheel 7, left rear wheel 5 and off hind wheel 6, turn to and are also equipped with wheel driving in executing agency 10
Motor 3,1 bottom of vehicle frame are equipped with bottom plate 2, and bottom plate 2 is equipped with dynamical system 17 and control system 13, turn to executing agency 10 and set
It is equipped with steering column 1002,1002 bottom of steering column is equipped with wheel crotch 1001, and wheel, wheel peace are installed on wheel crotch 1001
Equipped with brake device of electric 20, steering motor 1003 is connected at the top of steering column 1002, steering motor 1003 is equipped with encoder
A1004 is also equipped with the fixed device 9 of wheel drive motors, fixed 9 fixing vehicle wheel of device of wheel drive motors on steering column 1002
Driving motor 3, the combination bearing 1005 that steering column 1002 is installed are fixed on 11 front end of expansion bracket for executing agency 10 is turned to；Screw rod
Nut body 12 includes screw rod 1201, nut 1202 and rectangular fixed frame 1204, the front-end and back-end point of rectangular fixed frame 1204
It is not provided with front limit switch 1206 and rear limit switch 1208, front limit switch 1206 is mounted on the dominant bit of adjustable track
Place is set, rear limit switch 1208 is mounted at the minimum position of adjustable track, the two sides in the front end of rectangular fixed frame 1204
Also be separately installed with bearing b1205, the rolling surface of bearing b1205 respectively with 1207 bottom of bearing b guide groove, the side on expansion bracket 11
The inner top surface of shape fixed frame 1204 contacts, and is equipped with bearing a1203 below the rear end of expansion bracket 11, bearing a1203 with it is rectangular solid
Determine the inner bottom surface contact of frame 1204, one, screw thread of 2 bolt and nut mechanisms of reduction gearbox R16 connection, screw rod 1201 is
Positive one is reversed, 2 bolt and nut mechanisms of reduction gearbox L18 connection, and the same forward direction of screw flight one anti-
To wheel drive motors 3 are to be symmetrically installed, and the driving motor of preceding two-wheeled is located at top behind front-wheel, the driving motor of rear 2 wheel
Above before rear-wheel, transmission gear is installed on 3 output shaft of wheel drive motors, the driving cog with rotation shaft of wheel installation
Wheel connects into gear drive group 4 by chain, and the code-disc of encoder B21 is fixed on reduction gearbox output shaft, and encoder B21 is used for
The revolving speed and turnning circle for detecting output shaft or screw rod, when carrying out wheelspan adjusting, revolving speed and circle that encoder B21 will test
The information such as number are transferred to control system 13, and control system 13 between existing bolt and nut mechanism 12 and vehicle frame 1 according to installing
The information such as the screw pitch in angle, screw rod and wheel for motor vehicle away from minimum position, maximum position and existing position etc., calculate wheel
Away from the exact value before adjusting and after adjusting；13 fifth wheel of control system is away from adjusting motor 15, wheel drive motors 3, steering electricity
Machine 1003, encoder A1004, front limit switch 1206, rear limit switch 1208, encoder B21, controller 19 and dynamical system
17, dynamical system 17 provides electric power for above-mentioned component；Controller 19 is provided with power switch 1901, stop key 1907, brake key
1906, front limit indicator light 1902, rear limit indicator light 1905, wheelspan increase operation key 1903 and wheelspan reduction operation key
1904；Wheelspan increases operation key 1903 and wheelspan reduction operation key 1904 is point operation control；Controller 19 and control system 13
Information and data are transmitted as wired or wireless way.
As shown in Figure 6, Figure 7, wheelspan adjusting motor 15 can be to the wheelspan length between front and back wheel and between left and right wheels
Track width synchronizes adjustment, and the double output shaft that wheelspan adjusts motor 15 may be arranged as long axis, in 1 size constancy of vehicle frame
In the case where, wheelspan adjusts 15 per revolution of motor, and the wheelspan adjustable range between front and back wheel is greater than between left and right wheels
The double output shaft of wheelspan adjustable range, reduction gearbox R16 and reduction gearbox L18 may be arranged as long axis, in 1 size constancy of vehicle frame and
In the case that wheelspan adjusts 15 output shaft of motor as short axle, wheelspan adjusts 15 per revolution of motor, the wheelspan between front and back wheel
Adjustable range is less than the wheelspan adjustable range between left and right wheels.
The control method of wheel for motor vehicle distance regulating mechanism includes that the wheelspan of motor vehicle halted state increases control method, motor-driven
The wheelspan of vehicle halted state reduces control method, the wheelspan increasing control method in motor-driven vehicle going, the wheel in motor-driven vehicle going
Away from diminution control method.
The wheelspan of motor vehicle halted state increases control method: powering on, presses wheelspan and increase operation key 1903, control
System 13 detects wheel present position, and when wheel is in wheelspan maximum position, front limit switch 1206 is connected, front limit indicates
Lamp 1902 is bright, and prompt can not increase wheelspan；When wheel is between wheelspan minimum position and maximum position, brake device of electric
20 releasing of brakes；Steering motor 1003 starts, in which: the corresponding steering motor of the near front wheel 8 rotates counterclockwise, as its encoder A
According to the motor rotational angle set, when detecting that the direction of wheel is consistent with its 11 launch direction of expansion bracket, steering motor
It stops operating；Meanwhile the corresponding steering motor of off-front wheel 7 rotates clockwise, when its encoder A detect wheel direction and its
When 11 launch direction of expansion bracket is consistent, steering motor stops operating；Meanwhile the corresponding steering motor of left rear wheel 5 rotates clockwise,
When its encoder A detect wheel direction it is consistent with its 11 launch direction of expansion bracket when, steering motor stops operating；Meanwhile
The corresponding steering motor of off hind wheel 6 rotates counterclockwise, when its encoder A detects the direction and its 11 side of release of expansion bracket of wheel
To it is consistent when, steering motor stops operating；Wheelspan adjusts motor 15 and rotates forward or backwards, by bolt and nut mechanism by 4
Expansion bracket and wheel are pushed outwardly simultaneously, and the length and width of wheelspan increases simultaneously；When wheelspan is adjusted to required position, unclamp
Wheelspan increases operation key 1903, and wheelspan adjusts motor 15 and stops operating；All steering motors rotate backward, when each encoder A is examined
When measuring wheel and transferring back to the angle of original state, 4 steering motors stop operating；The starting brake of brake device of electric 20.
The wheelspan of motor vehicle halted state reduces control method: powering on, presses wheelspan reduction operation key 1904, controls
System 13 detects wheel present position, and when wheel is in wheelspan minimum position, rear limit switch 1208 is connected, rear limit indicates
Lamp 1905 is bright, and prompt can not reduce wheelspan；When wheel is between wheelspan maximum position and minimum position, brake device of electric
20 releasing of brakes；Steering motor 1003 starts, in which: the corresponding steering motor of the near front wheel 8 rotates counterclockwise, as its encoder A
When detecting that the direction of wheel is consistent with its 11 incoming direction of expansion bracket, steering motor stops operating；Meanwhile off-front wheel 7 is corresponding
Steering motor rotate clockwise, when its encoder A detect wheel direction it is consistent with its 11 incoming direction of expansion bracket when, turn
To motor stalls；Meanwhile the corresponding steering motor of left rear wheel 5 rotates clockwise, when its encoder A detects the side of wheel
When 11 incoming direction of Xiang Yuqi expansion bracket is consistent, steering motor stops operating；Meanwhile the corresponding steering motor inverse time of off hind wheel 6
Needle rotation, when its encoder A detect wheel direction it is consistent with its 11 incoming direction of expansion bracket when, steering motor stop turn
It is dynamic；Wheelspan adjusts motor 15 reversely or rotates forward, and is inwardly drawn 4 expansion brackets and wheel simultaneously by bolt and nut mechanism
Enter, the length and width of wheelspan reduces simultaneously；When wheelspan is adjusted to required position, wheelspan reduction operation key 1904, wheel are unclamped
It stops operating away from motor 15 is adjusted；All steering motors rotate backward, when encoder A detects that wheel transfers back to original state
When angle, 4 steering motors stop operating；The starting brake of brake device of electric 20；
Wheelspan in motor-driven vehicle going increases control method: pressing wheelspan and increases operation key 1903, wheel drive motors 3 are decelerated to
Setting speed；Steering motor 1003 starts, in which: the near front wheel 8 and left rear wheel 5 rotate counterclockwise, when encoder A detects wheel
When turning to set angle, steering motor stops operating, meanwhile, off-front wheel 7 and off hind wheel 6 rotate clockwise, when encoder A is examined
When measuring vehicle wheel rotation to set angle, steering motor stops operating；Meanwhile wheelspan adjusts motor 15 and rotates forward or backwards,
4 expansion brackets and wheel are pushed outwardly simultaneously by bolt and nut mechanism, the length and width of wheelspan increases simultaneously；Work as wheelspan
When adjusting required position, unclamps wheelspan and increase operation key 1903, wheelspan adjusts motor 15 and stops operating；Meanwhile all steerings
Motor rotates backward, and when encoder A detects that wheel transfers back to the angle of original state, 4 steering motors stop operating；Vehicle
Wheel drive motor 3 restores to original speed；
Wheelspan in motor-driven vehicle going reduces control method: pressing wheelspan reduction operation key 1904, wheel drive motors 3 are decelerated to
Setting speed；Steering motor 1003 starts, in which: the near front wheel 8 and left rear wheel 5 are rotated clockwise to set angle, steering motor
It stops operating, meanwhile, off-front wheel 7 and off hind wheel 6 rotate counterclockwise to set angle, and steering motor stops operating；Meanwhile wheelspan
It adjusts motor 15 reversely or rotates forward, be directed inwardly into 4 expansion brackets and wheel simultaneously by bolt and nut mechanism, wheelspan
Length and width reduces simultaneously；When wheelspan is adjusted to required position, wheelspan reduction operation key 1904 is unclamped, wheelspan adjusts motor
15 stop operating；All steering motors rotate backward simultaneously, when encoder A detects that wheel transfers back to the angle of original state
When, 4 steering motors stop operating；Wheel drive motors 3 are restored to original speed.
When the invention works, when needing original place to carry out wheelspan adjusting, the power switch 1901 on controller 19 is first opened, so
After press wheelspan and increase operation key 1903 or wheelspan reduction operation key 1904, brake device of electric 20, wheelspan adjust motor 15, spiral shell
Stem nut mechanism 12, steering motor 1003 automatically by setting control program behavior, by wheel for motor vehicle away from width and length into
Row is increased or is reduced, and is unclamped wheelspan and is increased operation key 1903 or wheelspan reduction operation key 1904, wheel restores original orientation, electronics
Brake gear self-actuating brake；Need regulating wheel away from pressing wheelspan and increase operation key 1903 or wheelspan in the case of motor-driven vehicle going
Reduction operation key 1904, reducing speed of motor vehicle to setting speed, wheelspan adjust motor 15, bolt and nut mechanism 12, steering motor
The 1003 automatic control program behaviors by setting, by wheel for motor vehicle away from width and length increased or reduced, unclamp wheelspan
Operation key 1903 or wheelspan reduction operation key 1904 are increased, wheel restores original direction, and motor vehicle speed restores original speed.
Claims (9)
1. a kind of wheel for motor vehicle distance regulating mechanism, including vehicle frame (1), it is characterised in that: the center of vehicle frame (1) is equipped with wheel
Away from motor (15) are adjusted, it is double output shaft that wheelspan, which adjusts motor (15), and reduction gearbox R(16 is installed at both ends respectively) and reduction gearbox L
(18), reduction gearbox be double output shaft worm gear mechanism, reduction gearbox output shaft one of those encoder B(21 is installed), subtract
Fast case output shaft is separately connected the rear end of bolt and nut mechanism (12), the front end of 4 bolt and nut mechanisms by universal joint (14)
It is separately mounted on 4 angles of vehicle frame (1), bolt and nut mechanism (12) is provided with expansion bracket (11), and 4 expansion bracket front ends are pacified
Equipped with executing agency (10) are turned to, turns to and wheel is installed on executing agency (10), wheel includes the near front wheel (8), off-front wheel
(7), left rear wheel (5) and off hind wheel (6) are turned to and are also equipped with wheel drive motors (3) on executing agency (10), vehicle frame (1) bottom
Portion is equipped with bottom plate (2), and bottom plate (2) is equipped with dynamical system (17) and control system (13).
2. wheel for motor vehicle distance regulating mechanism according to claim 1, which is characterized in that the steering executing agency (10) sets
It is equipped with steering column (1002), steering column (1002) bottom is equipped with wheel crotch (1001), and wheel crotch installs vehicle on (1001)
Wheel, wheel are equipped with brake device of electric (20), connect steering motor (1003) at the top of steering column (1002), steering motor
(1003) encoder A(1004 is installed), it is fixed device (9) to be also equipped with wheel drive motors on steering column (1002), wheel
Driving motor fixes device (9) fixing vehicle wheel driving motor (3), and the combination bearing (1005) of steering column (1002) installation will turn to
Executing agency (10) is fixed on expansion bracket (11) front end.
3. wheel for motor vehicle distance regulating mechanism according to claim 1, which is characterized in that bolt and nut mechanism (12) packet
Screw rod (1201), nut (1202) and rectangular fixed frame (1204) are included, the front-end and back-end of rectangular fixed frame (1204) are set respectively
It is equipped with front limit switch (1206) and rear limit switch (1208), front limit switch (1206) is mounted on the maximum of adjustable track
At position, rear limit switch (1208) is mounted at the minimum position of adjustable track, in the front end of rectangular fixed frame (1204)
Interior two sides are also separately installed with bearing b(1205), bearing b(1205) rolling surface led respectively with the bearing b on expansion bracket (11)
The rear end lower section of the inner top surface contact of slot (1207) bottom, rectangular fixed frame (1204), expansion bracket (11) is equipped with bearing a
(1203), bearing a(1203) it is contacted with the inner bottom surface of rectangular fixed frame (1204)；The reduction gearbox R(16) connection 2 spiral shells
Stem nut mechanism, it is reversed, the reduction gearbox L(18 that one, screw thread of screw rod (1201), which is positive one) 2 spiral shells of connection
Stem nut mechanism, the same forward direction of screw flight one reversed.
4. wheel for motor vehicle distance regulating mechanism according to claim 1, which is characterized in that the wheel drive motors (3) are
It is symmetrically installed, the driving motor of preceding two-wheeled is located at top behind front-wheel, and the driving motor of rear 2 wheel is located at before rear-wheel
It is square, transmission gear is installed on wheel drive motors (3) output shaft, is connect with the transmission gear of rotation shaft of wheel installation by chain
At gear drive group (4).
5. wheel for motor vehicle distance regulating mechanism according to claim 1, which is characterized in that the wheelspan adjusts motor (15) can
To synchronize adjustment to the wheelspan length between front and back wheel and the Track width between left and right wheels, the wheelspan adjusts motor
(15) double output shaft may be arranged as long axis, in the case where vehicle frame (1) size constancy, every turn of wheelspan adjusting motor (15)
Dynamic one encloses, and the wheelspan adjustable range between front and back wheel is greater than the wheelspan adjustable range between left and right wheels；The reduction gearbox R(16)
It may be arranged as long axis with the double output shaft of reduction gearbox L(18), it is defeated to adjust motor (15) in vehicle frame (1) size constancy and wheelspan
In the case that shaft is short axle, wheelspan adjusts motor (15) per revolution, and the wheelspan adjustable range between front and back wheel is less than
Wheelspan adjustable range between left and right wheels.
6. wheel for motor vehicle distance regulating mechanism according to claim 1, which is characterized in that the encoder B(21) code-disc
It is fixed on reduction gearbox output shaft, encoder B(21) for detecting the revolving speed and turnning circle of output shaft or screw rod, it is being taken turns
When away from adjusting, encoder B(21) information such as the revolving speed that will test and circle number are transferred to control system (13), control system (13)
According to information such as the angle installed between existing bolt and nut mechanism (12) and vehicle frame (1), screw pitch on screw rod and motor-driven
Minimum position, maximum position and existing position of wheel tracks etc. calculate the exact value before wheelspan is adjusted and after adjusting.
7. wheel for motor vehicle distance regulating mechanism according to claim 1, which is characterized in that control system (13) fifth wheel
Away from adjust motor (15), wheel drive motors (3), steering motor (1003), encoder A(1004), front limit switch (1206),
Rear limit switch (1208), encoder B(21), controller (19) and dynamical system (17)；The dynamical system (17) is above-mentioned
Component provides electric power.
8. wheel for motor vehicle distance regulating mechanism according to claim 1, which is characterized in that the controller (19) is provided with electricity
Source switch (1901), stop key (1907), brake key (1906), front limit indicator light (1902), afterwards limit indicator light (1905),
Wheelspan increases operation key (1903) and wheelspan reduction operation key (1904)；The wheelspan increases operation key (1903) and wheelspan reduces
Operation key (1904) is point operation control；The information and data of the controller (19) and control system (13) are transmitted as wired or nothing
Line mode.
9. one kind is according to claim 1 to the control method of wheel for motor vehicle distance regulating mechanism described in 8, it is characterised in that: including
The wheelspan of motor vehicle halted state increases control method, the wheelspan of motor vehicle halted state reduces control method, motor-driven vehicle going
In wheelspan increase control method, the wheelspan in motor-driven vehicle going reduces control method；
The wheelspan of the motor vehicle halted state increases control method:
Step 1: powering on, press wheelspan and increase operation key (1903), control system (13) detects wheel present position, works as vehicle
When wheel is in wheelspan maximum position, front limit switch (1206) is connected, front limit indicator light (1902) is bright, and prompt can not increase wheel
Away from；When wheel is between wheelspan minimum position and maximum position, brake device of electric (20) releasing of brake；
Step 2: steering motor (1003) starting, in which: the corresponding steering motor of the near front wheel (8) rotates counterclockwise, when its coding
Device A is according to the motor rotational angle set, when detecting that the direction of wheel is consistent with its expansion bracket (11) launch direction, turns to
Motor stalls；Meanwhile the corresponding steering motor of off-front wheel (7) rotates clockwise, when its encoder A detects the side of wheel
When Xiang Yuqi expansion bracket (11) launch direction is consistent, steering motor stops operating；Meanwhile the corresponding steering motor of left rear wheel (5)
Rotate clockwise, when its encoder A detect wheel direction it is consistent with its expansion bracket (11) launch direction when, steering motor is stopped
Rotation stop is dynamic；Meanwhile the corresponding steering motor of off hind wheel (6) rotates counterclockwise, when its encoder A detect wheel direction and its
When expansion bracket (11) launch direction is consistent, steering motor stops operating；
Step 3: wheelspan adjusts motor (15) and rotates forward or backwards, by bolt and nut mechanism that 4 expansion brackets and wheel are same
When be pushed outwardly, the length and width of wheelspan increases simultaneously；
Step 4: when wheelspan is adjusted to required position, unclamping wheelspan and increase operation key (1903), wheelspan adjusts motor (15) and stops
Rotation stop is dynamic；
Step 5: all steering motor rotations, rotation direction and step 2 are on the contrary, when each encoder A detects that wheel transfers back to just
When the angle of beginning state, 4 steering motors stop operating；
Step 6: brake device of electric (20) starting brake；
The wheelspan of the motor vehicle halted state reduces control method:
Step 1: powering on, press wheelspan reduction operation key (1904), control system (13) detects wheel present position, works as vehicle
When wheel is in wheelspan minimum position, rear limit switch (1208) is connected, limit indicator light (1905) is bright afterwards, and prompt can not reduce wheel
Away from；When wheel is between wheelspan maximum position and minimum position, brake device of electric (20) releasing of brake；
Step 2: steering motor (1003) starting, in which: the corresponding steering motor of the near front wheel (8) rotates counterclockwise, when its coding
When device A detects that the direction of wheel is consistent with its expansion bracket (11) incoming direction, steering motor stops operating；Meanwhile off-front wheel
(7) corresponding steering motor rotates clockwise, when its encoder A detects direction and its expansion bracket (11) incoming direction of wheel
When consistent, steering motor stops operating；Meanwhile the corresponding steering motor of left rear wheel (5) rotates clockwise, when its encoder A is examined
Measure wheel direction it is consistent with its expansion bracket (11) incoming direction when, steering motor stops operating；Meanwhile off hind wheel (6) is right
The steering motor answered rotates counterclockwise, when its encoder A detects that the direction of wheel is consistent with its expansion bracket (11) incoming direction
When, steering motor stops operating；
Step 3: wheelspan adjusts motor (15) reversely or rotates forward, by bolt and nut mechanism that 4 expansion brackets and wheel are same
When be directed inwardly into, the length and width of wheelspan reduces simultaneously；
Step 4: when wheelspan is adjusted to required position, unclamping wheelspan reduction operation key (1904), wheelspan adjusts motor (15) and stops
Rotation stop is dynamic；
Step 5: all steering motor rotations, rotation direction and step 2 are on the contrary, when encoder A detects that wheel transfers back to initially
When the angle of state, 4 steering motors stop operating；
Step 6: brake device of electric (20) starting brake；
Wheelspan in the motor-driven vehicle going increases control method:
Step 1: pressing wheelspan and increase operation key (1903), wheel drive motors (3) are decelerated to setting speed；
Step 2: steering motor (1003) starting, in which: the near front wheel (8) and left rear wheel (5) rotate counterclockwise, when encoder A is examined
When measuring vehicle wheel rotation to set angle, steering motor stops operating, meanwhile, off-front wheel (7) and off hind wheel (6) turn clockwise
Dynamic, when encoder A detects vehicle wheel rotation to set angle, steering motor stops operating；Meanwhile wheelspan adjusts motor (15)
It rotates, is pushed outwardly 4 expansion brackets and wheel simultaneously by bolt and nut mechanism, the length and width of wheelspan forward or backwards
It increases simultaneously；
Step 3: when wheelspan is adjusted to required position, unclamping wheelspan and increase operation key (1903), wheelspan adjusts motor (15) and stops
Rotation stop is dynamic；Meanwhile all steering motor rotations, rotation direction and step 2 are on the contrary, when encoder A detects that wheel transfers back to just
When the angle of beginning state, 4 steering motors stop operating；
Step 4: wheel drive motors (3) are restored to original speed；
Wheelspan in the motor-driven vehicle going reduces control method:
Step 1: pressing wheelspan reduction operation key (1904), wheel drive motors (3) are decelerated to setting speed；
Step 2: steering motor (1003) starting, in which: the near front wheel (8) and left rear wheel (5) are rotated clockwise to set angle, turn
To motor stalls, meanwhile, off-front wheel (7) and off hind wheel (6) rotate counterclockwise to set angle, and steering motor stops turning
It is dynamic；Meanwhile wheelspan adjust motor (15) it is reversed or rotate forward, by bolt and nut mechanism by 4 expansion brackets and wheel simultaneously
It is directed inwardly into, the length and width of wheelspan reduces simultaneously；
Step 3: when wheelspan is adjusted to required position, unclamping wheelspan reduction operation key (1904), wheelspan adjusts motor (15) and stops
Rotation stop is dynamic；All steering motor rotations simultaneously, rotation direction and step 2 are on the contrary, when encoder A detects that wheel transfers back to initially
When the angle of state, 4 steering motors stop operating；
Step 4: wheel drive motors (3) are restored to original speed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910416141.4A CN110103641B (en) | 2019-05-19 | 2019-05-19 | Motor vehicle wheel track adjusting mechanism and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910416141.4A CN110103641B (en) | 2019-05-19 | 2019-05-19 | Motor vehicle wheel track adjusting mechanism and control method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110103641A true CN110103641A (en) | 2019-08-09 |
| CN110103641B CN110103641B (en) | 2020-02-07 |
Family
ID=67490930
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910416141.4A Active CN110103641B (en) | 2019-05-19 | 2019-05-19 | Motor vehicle wheel track adjusting mechanism and control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110103641B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112851418A (en) * | 2021-01-08 | 2021-05-28 | 安振宙 | Environmental protection organic fertilizer fermentation is with turning over machine of throwing |
| CN114313063A (en) * | 2022-01-02 | 2022-04-12 | 浙江小远机器人有限公司 | Omnidirectional movement mechanism |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6334071B2 (en) * | 1980-10-30 | 1988-07-07 | Mitsubishi Agricult Mach | |
| FR2844245A1 (en) * | 2002-09-10 | 2004-03-12 | Jean Marie Obry | Universal transport vehicle with adjustable wheelbase and wheel track, includes four independent wheels, each mounted on suspension arms articulating on chassis and simultaneously adjusted by threaded rod and collars |
| CN103057631A (en) * | 2013-02-08 | 2013-04-24 | 吉林大学 | Wheel track changing suspension mechanism of traveling machinery |
| CN103693581A (en) * | 2013-11-28 | 2014-04-02 | 江苏泰隆减速机股份有限公司 | Jack with limiting switch |
| CN205150024U (en) * | 2015-10-19 | 2016-04-13 | 新西兰投资贸易中心 | Electric automobile |
| CN208730710U (en) * | 2018-09-05 | 2019-04-12 | 武汉广厦润田农业发展有限公司 | A kind of farmland operation walking mechanism |
| CN109760742A (en) * | 2019-03-14 | 2019-05-17 | 常熟理工学院 | A kind of changeable wheel track omnidirectional four-wheel drive mobile chassis |
-
2019
- 2019-05-19 CN CN201910416141.4A patent/CN110103641B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6334071B2 (en) * | 1980-10-30 | 1988-07-07 | Mitsubishi Agricult Mach | |
| FR2844245A1 (en) * | 2002-09-10 | 2004-03-12 | Jean Marie Obry | Universal transport vehicle with adjustable wheelbase and wheel track, includes four independent wheels, each mounted on suspension arms articulating on chassis and simultaneously adjusted by threaded rod and collars |
| CN103057631A (en) * | 2013-02-08 | 2013-04-24 | 吉林大学 | Wheel track changing suspension mechanism of traveling machinery |
| CN103693581A (en) * | 2013-11-28 | 2014-04-02 | 江苏泰隆减速机股份有限公司 | Jack with limiting switch |
| CN205150024U (en) * | 2015-10-19 | 2016-04-13 | 新西兰投资贸易中心 | Electric automobile |
| CN208730710U (en) * | 2018-09-05 | 2019-04-12 | 武汉广厦润田农业发展有限公司 | A kind of farmland operation walking mechanism |
| CN109760742A (en) * | 2019-03-14 | 2019-05-17 | 常熟理工学院 | A kind of changeable wheel track omnidirectional four-wheel drive mobile chassis |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112851418A (en) * | 2021-01-08 | 2021-05-28 | 安振宙 | Environmental protection organic fertilizer fermentation is with turning over machine of throwing |
| CN114313063A (en) * | 2022-01-02 | 2022-04-12 | 浙江小远机器人有限公司 | Omnidirectional movement mechanism |
| CN114313063B (en) * | 2022-01-02 | 2023-02-17 | 浙江小远机器人有限公司 | Omnidirectional movement mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110103641B (en) | 2020-02-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101797917B (en) | Braking device of unmanned vehicle | |
| JP6876707B2 (en) | Powered wheels and disc type omnidirectional power steering system | |
| CN110103641A (en) | Wheel for motor vehicle distance regulating mechanism and its control method | |
| CN108001527A (en) | A kind of full steering chassis | |
| CN112660234A (en) | Double-motor steer-by-wire system of commercial vehicle | |
| CN108466610B (en) | A kind of automatic assigned unit of caravan trailer brake force and its control method | |
| CN107264295A (en) | Magnetorheological line traffic control composite braking system and control method for electric automobile | |
| US20180362077A1 (en) | Self-powered wheel and disc type omnidirectional power steering system | |
| CN115871768A (en) | Unmanned driving device | |
| CN105882453B (en) | A kind of driving structure of electric vehicle and type of drive | |
| CN208359836U (en) | A kind of dual motors drive bridge structure | |
| CN201633712U (en) | Unmanned vehicle brake | |
| CN108945097B (en) | Electric wire control steering system | |
| CN210101743U (en) | Steering wheel aligning system and vehicle | |
| CN2685190Y (en) | Integral circulating ball type electric steering device | |
| CN215097329U (en) | Vehicle-mounted radar adjusting device and vehicle-mounted radar device | |
| CN210760976U (en) | Distributed driving vehicle chassis | |
| CN110466599B (en) | Steering mechanism and suspension integrated steering mechanism for electric wheel drive automobile and control method thereof | |
| CN203766736U (en) | Driving device with parking brake and electric automobile applying driving device | |
| CN106976477B (en) | A kind of automobile steering system of achievable ideal Ackermann angle relationship | |
| CN209336701U (en) | Automatic driving vehicle electric controlled brake device | |
| CN207931698U (en) | A kind of variable lever ratio brake pedal | |
| CN113135166A (en) | Emergency steering mechanism of all-terrain vehicle | |
| CN115158444B (en) | Wire control steering structure and control method thereof | |
| CN109131381A (en) | A kind of hub motor drive system and its driving method of small size air rail vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |