CN110588776B - Chassis trolley of bearing vehicle - Google Patents
Chassis trolley of bearing vehicle Download PDFInfo
- Publication number
- CN110588776B CN110588776B CN201911006643.6A CN201911006643A CN110588776B CN 110588776 B CN110588776 B CN 110588776B CN 201911006643 A CN201911006643 A CN 201911006643A CN 110588776 B CN110588776 B CN 110588776B
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- steering wheel
- rod
- hydraulic
- chassis
- 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.)
- Active
Links
Images
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
Abstract
The invention relates to the technical field of bearing vehicles, and particularly discloses a chassis trolley of a bearing vehicle, which comprises a chassis, a steering mechanism, a left steering wheel set and a right steering wheel set, wherein the steering mechanism comprises a left connecting rod, a first middle connecting rod, a shifting fork, a push rod, a second middle connecting rod and a right connecting rod; the left steering wheel set is rotationally connected with the left end of the left connecting rod, and the right end of the left connecting rod is rotationally connected with the left end of the first middle connecting rod; the right steering wheel set is rotationally connected with the right end of the right connecting rod, and the left end of the right connecting rod is rotationally connected with the right end of the second middle connecting rod; the shifting fork comprises a left end, a right end and a protruding end which are integrally formed; the left end and the right end of the shifting fork are respectively and fixedly connected with the right end of the first middle connecting rod and the left end of the second middle connecting rod; the push rod is arranged in parallel with the first middle connecting rod and the second middle connecting rod and comprises a tail end and a movable end, the tail end is fixedly connected to the chassis, and the movable end is rotatably connected with the protruding end of the shifting fork. The technical scheme of the invention has compact structure, flexible steering and accurate control.
Description
Technical Field
The invention relates to the technical field of bearing vehicles, in particular to a chassis trolley of a bearing vehicle.
Background
At present, in an Advanced Driver Assistance System (ADAS) test of an automobile, sub-tests such as an automatic Emergency Braking System (AEB) test, an Adaptive Cruise Control System (ACC) test, a Lane Departure Warning System (LDW) test, and a forward collision Warning System (FCW) test are included, and these sub-tests need to simulate a motion state of the automobile, and therefore a set of target position carrying robots dedicated for pedestrians is required as a target automobile carrying platform, and the target position carrying robots need to have the characteristics of smooth and high-speed movement, accurate path Control, good acceleration and deceleration performance, long endurance mileage, and the like.
The overall structure of an AGV dolly produced in China is similar to that of a target car bearing platform, the AGV dolly mainly comprises a motor, a hub is driven to rotate in a gear transmission mode to achieve steering, and a servo motor provides power for the dolly. However, AGV carts also suffer from the following disadvantages: 1. the steering mechanism of the AGV trolley directly drives the hub to steer through the motor, so that the steering torque is large, the response speed is low, and the accurate control is difficult. 2. The AGV generally adopts rail navigation or laser navigation, and runs under low-speed working condition, and the precision is lower. The ADAS test needs the target vehicle to realize high-speed and high-precision operation, and the structure of the AGV trolley is difficult to meet the high response requirement. 3. The AGV generally runs at a speed within 20Km/h, and has low requirements on acceleration and deceleration, while the ADAS test requires that a target vehicle has a speed of 72Km/h and has high requirements on acceleration and deceleration.
Thus, the AGV trolley is difficult to use as a target vehicle load-bearing platform. In order to ensure the smooth performance of the ADAS test, a compact and compact cart is required.
Disclosure of Invention
The invention aims to provide a chassis trolley of a bearing vehicle, which is used for accurately controlling steering.
In order to solve the technical problems, the technical scheme of the invention is as follows:
a chassis trolley of a bearing vehicle comprises a chassis, a steering mechanism, a left steering wheel set and a right steering wheel set, wherein the steering mechanism comprises a left connecting rod, a first middle connecting rod, a shifting fork, a push rod, a second middle connecting rod and a right connecting rod; the left steering wheel set is rotationally connected with the left end of the left connecting rod, and the right end of the left connecting rod is rotationally connected with the left end of the first middle connecting rod; the right steering wheel set is rotationally connected with the right end of the right connecting rod, and the left end of the right connecting rod is rotationally connected with the right end of the second middle connecting rod; the shifting fork comprises a left end, a right end and a protruding end which are integrally formed; the left end and the right end of the shifting fork are respectively and fixedly connected with the right end of the first middle connecting rod and the left end of the second middle connecting rod; the push rod is arranged in parallel with the first middle connecting rod and the second middle connecting rod and comprises a tail end and a movable end, the tail end is fixedly connected to the chassis, and the movable end is rotatably connected with the protruding end of the shifting fork.
The basic scheme principle and the beneficial effects are as follows:
when the left steering wheel set and the right steering wheel set rotate leftwards or rightwards, the first middle connecting rod and the second middle connecting rod can be driven to move leftwards or rightwards through the extension or retraction of the movable end of the push rod, and the left connecting rod and the right connecting rod can move leftwards or rightwards, so that the left steering wheel set and the right steering wheel set can rotate leftwards or rightwards. Finally, the purpose of controlling the steering of the trolley is achieved.
In this scheme, the push rod, the first middle connecting rod and the second middle connecting rod only move linearly to realize steering, so that the mounting space can be saved, and the steering is more stable and reliable, and is more labor-saving.
Further, the device also comprises a driving wheel set and two driving mechanisms; the driving wheel set comprises two driving wheels, and one driving wheel corresponds to one driving mechanism; the driving mechanism comprises a motor, a fixed base, a large rotating wheel, a chain, a small chain wheel, a rear suspension and a rear rotating shaft;
the motor is fixed on the fixed base, the fixed base is fixed on the chassis, and an output shaft of the motor faces to the corresponding driving wheel; the large rotating wheel is fixedly connected to an output shaft of the motor; the rear suspension is located between the driving wheel and the motor, one end of the rear suspension is rotatably connected to the chassis, the through hole is further formed in the other end of the rear suspension, the rear rotating shaft penetrates through the through hole and is parallel to an output shaft of the motor, one end of the rear rotating shaft is fixedly connected with the driving wheel, the other end of the rear rotating shaft is fixedly connected with the small chain wheel, the small chain wheel and the large rotating wheel are located in the same vertical plane, and the small chain wheel and the large rotating wheel are connected through a chain.
When the chain wheel moves, an output shaft of the motor rotates to drive the large rotating wheel to rotate, and the rotating speed and the torque are transmitted to the small chain wheel through the chain; the small chain wheel can drive the driving wheel to rotate.
In this scheme, actuating mechanism's structural advantage lies in: 1. the chain transmission load is uniformly distributed, the transmission is accurate and stable, and the chain transmission device is more suitable for the requirements of frequent acceleration and deceleration of a target vehicle and accurate speed control in ADAS test. 2. Because the volume of the motor is limited and the high rotating speed and the high torque are difficult to achieve simultaneously, the chain wheel pair is adopted for speed increasing treatment, the requirement on the motor is reduced, and the cost is reduced.
Further, the left steering wheel group comprises a left steering wheel and a left rotating rod; the right steering wheel group comprises a right steering wheel and a right steering rod; the left steering wheel is rotatably connected with one end of the left rotating rod, and the other end of the left rotating rod is rotatably connected with the left end of the left connecting rod; the right steering wheel is rotationally connected with one end of the right steering rod; the other end of the right rotating rod is rotatably connected with the right end of the right connecting rod.
The left steering wheel set and the right steering wheel set respectively utilize the lever principle formed by the left rotating rod and the right rotating rod, so that more labor can be saved.
Furthermore, the left steering wheel group still includes left stationary blade, and the one end that the left turn bar is close to the left steering wheel still rotates with the one end of left stationary blade to be connected, and the one end and the chassis fixed connection of left dwang are kept away from to left stationary blade.
Taking the left steering wheel set as an example, a pivot is formed at the rotary connection position of the left fixing plate and the left rotating rod, so that the left steering wheel can swing leftwards or rightwards by taking the pivot as a circle center to steer.
Further, when the vehicle runs in a straight line, the first middle connecting rod and the second middle connecting rod are parallel to the axes of the left steering wheel and the right steering wheel, and the left rotating rod and the right rotating rod are perpendicular to the axes of the left steering wheel and the right steering wheel.
The first middle connecting rod and the second middle connecting rod can be ensured to rotate at the same angle when doing rectilinear motion leftwards or rightwards, as long as the leftwards or rightwards strokes are the same.
Furthermore, the steering mechanism also comprises a joint bearing, and the left connecting rod is rotatably connected with the left rotating rod and the first middle connecting rod through the joint bearing; the right connecting rod is rotatably connected with the right rotating rod and the second middle connecting rod through joint bearings.
The joint bearing can rotate and swing at any angle during movement, so that the movement of the connecting part is more flexible.
Further, the push rod is an electric push rod or a hydraulic push rod.
The electric push rod or the hydraulic push rod is convenient for accurately controlling the steering.
Furthermore, the driving mechanism further comprises a rolling bearing, and the rolling bearing is fixed between the rear rotating shaft and the through hole.
Through setting up antifriction bearing, can reduce the frictional force between back pivot and the through-hole, reduce wearing and tearing.
Further, the device also comprises two brake mechanisms; the left steering wheel set and the right steering wheel set are respectively provided with a brake mechanism correspondingly; the rear ends of the left rotating rod and the right rotating rod are both provided with rotating shaft holes along the axis of the steering wheel; the brake mechanism comprises hydraulic calipers, brake pads, a brake shaft, a telescopic rod and a front rotating shaft;
the front rotating shaft penetrates through the rotating shaft hole, one end of the front rotating shaft is fixedly connected with the left steering wheel or the right steering wheel, the other end of the front rotating shaft is connected with one end of the telescopic rod, and the other end of the telescopic rod is connected with one end of the brake shaft; the other end of the brake shaft is rotatably connected with the chassis; when the trolley moves linearly, the brake shaft is parallel to the axis of the left steering wheel or the right steering wheel; the brake block is fixed on the brake shaft, and the hydraulic caliper is fixed on the chassis.
The steering mechanism is designed to be a connecting rod structure, and can be used for installing brake mechanisms for a left steering wheel set and a right steering wheel set in a limited space. When the brake is needed, the hydraulic calipers can clamp the brake pad, the braking force is transmitted to the front rotating shaft through the universal joint, the brake of the steering wheel can be realized, and meanwhile, the work of the steering mechanism is not influenced.
Furthermore, the brake mechanism still includes two universal joints, and the other end of preceding pivot is connected with the one end of telescopic link through a universal joint, and the other end of telescopic link is connected with the one end of brake axle through another universal joint.
The universal energy-saving telescopic rod is arranged, so that the telescopic rod can move conveniently.
Drawings
FIG. 1 is a top view of a chassis and steering mechanism according to an embodiment;
FIG. 2 is a top view of a steering mechanism according to an embodiment;
FIG. 3 is a top view of a chassis and drive mechanism according to an embodiment;
FIG. 4 is a perspective view of a drive mechanism according to one embodiment;
FIG. 5 is a perspective longitudinal sectional view of a second brake mechanism according to an embodiment.
Detailed Description
The following is further detailed by way of specific embodiments:
reference numerals in the drawings of the specification include:
the device comprises a left rotating rod 1, a left connecting rod 2, a first middle connecting rod 3, an electric push rod 4, a shifting fork 5, a right connecting rod 6, a fixing plate 7, a motor 8, a left steering wheel 9, a large rotating wheel 10, a small chain wheel 11, a chain 12, a rear suspension 13, hydraulic calipers 14, a brake pad 15, a brake shaft 16, a telescopic rod 17 and a front rotating shaft 18.
Example one
A chassis trolley of a bearing vehicle comprises a chassis, a driving mechanism, a steering mechanism, a left steering wheel set, a right steering wheel set and a driving wheel set. In this embodiment, the steering mechanism, the left steering wheel set and the right steering wheel set are disposed at the front portion of the chassis, and the driving mechanism and the driving wheel set are disposed at the rear portion of the chassis.
As shown in fig. 1 and 2, the left steering wheel set comprises a left steering wheel 9, a left turning bar 1 and a left fixing plate 7; the right steering wheel group comprises a right steering wheel, a right steering rod and a right fixing sheet; the left steering wheel 9 and the right steering wheel are respectively arranged at the left side and the right side of the front part of the chassis.
Specifically, taking the left steering wheel 9 as an example, the left fixing plate 7 is triangular, the left rotating rod 1 is perpendicular to the axis of the left steering wheel 9, one side of the rear end of the left rotating rod 1 is rotatably connected with the left steering wheel 9, one side of the rear end of the left rotating rod 1, which is far away from the left steering wheel 9, is hinged to one end of the left fixing plate 7, and one end of the left fixing plate 7, which is far away from the left rotating rod 1, is connected with the chassis through a bolt.
The right steering wheel is mirror symmetrical with the left steering wheel 9, and the specific connection mode of the right steering wheel is not described in detail here.
The steering mechanism comprises a left connecting rod 2, a first middle connecting rod 3, a shifting fork 5, a push rod, a second middle connecting rod and a right connecting rod 6. In this embodiment, the push rod is an electric push rod 4, and in other embodiments, a hydraulic push rod may be used.
The front end of a left rotating rod 1 of a left steering wheel 9 is also rotatably connected with the left end of a left connecting rod 2 through a joint bearing, and the right end of the left connecting rod 2 is rotatably connected with the left end of a first middle connecting rod 3 through a joint bearing. The front end of a right rotating rod of the right steering wheel is rotatably connected with the right end of the right connecting rod 6 through a joint bearing, and the left end of the right connecting rod 6 is rotatably connected with the right end of the second middle connecting rod through a joint bearing.
The shift fork 5 comprises a left end, a right end and a protruding end which extends backwards, wherein the left end and the right end are integrally formed. The left end and the right end of the shifting fork 5 are respectively connected with the right end of the first middle connecting rod 3 and the left end of the second middle connecting rod through bolts. Electric putter 4 and the middle connecting rod parallel arrangement of first middle connecting rod and second, electric putter 4 includes tail end and expansion end, and the tail end passes through the bolt fastening on the chassis, and the expansion end is articulated with the protrusion end of shift fork 5.
When needing to turn to, through the stretching out or the withdrawal of electric putter 4 live end, can drive first middle connecting rod 3 and second middle connecting rod and move left or right, make left connecting rod 2 and right connecting rod 6 move left or right, promote left dwang 1 and right dwang and use the pin joint (the pin joint between dwang 1 and the corresponding stationary blade 7) as the fulcrum swing left or right to realize that the directive wheel rotates left or right. Finally, the purpose of controlling the steering of the trolley is achieved.
In this scheme electric putter 4, connecting rod 3 in the middle of the first and the connecting rod just can realize turning to being done linear motion in the middle of the second, and the directive wheel part utilizes the support and the lever principle that turn to that stationary blade 7 formed, can save installation space like this, makes to turn to more steadily, more reliable also more laborsaving simultaneously.
As shown in fig. 3, the driving wheel set includes a left driving wheel and a right driving wheel, and the left driving wheel and the right driving wheel are equipped with independent driving mechanisms. The driving mechanism comprises a motor 8, a fixed base, a large rotating wheel 10, a chain 12, a small chain wheel 11, a rear suspension 13 and a rear rotating shaft.
The present embodiment is exemplified by a left driving wheel and a corresponding driving mechanism. The motor 8 sets up along left right direction, and the motor 8 includes shell and output shaft, and the shell of motor 8 passes through the bolt fastening on unable adjustment base, and unable adjustment base passes through the bolt fastening on the chassis, and the output shaft of motor 8 is towards the drive wheel left.
The large rotor 10 is welded to the output shaft of the motor 8. The rear suspension 13 is positioned between the left driving wheel and the motor 8, and the rear suspension 13 is arranged along the front-rear direction; the rear end of the rear suspension 13 is hinged to the chassis, a through hole is further formed in the front end of the rear suspension 13, a rear rotating shaft penetrates through the through hole and is parallel to an output shaft of the motor 8, one end of the rear rotating shaft is welded with the left driving wheel, and the other end of the rear rotating shaft is welded with the small chain wheel 11, so that the small chain wheel 11 and the left driving wheel rotate coaxially. A rolling bearing is also arranged between the rear rotating shaft and the rear suspension 13. Specifically, the outer surface of the rolling bearing is in clearance fit with the through hole, and the rear rotating shaft penetrates through the rolling bearing. The small chain wheel 11 and the large rotating wheel 10 are positioned in the same vertical plane, and the small chain wheel 11 and the large rotating wheel 10 are connected through a chain 12.
The right driving wheel and the corresponding driving mechanism are mirror symmetric with the left driving wheel and the corresponding driving mechanism, and are not described herein again.
As shown in fig. 4, during movement, the output shaft of the motor 8 rotates to drive the large pulley 10 to rotate, and the rotation speed and torque are transmitted to the small pulley 11 through the chain 12; the small chain wheel 11 can drive the left driving wheel to rotate, and the right driving wheel is the same.
In this scheme, actuating mechanism's structural advantage lies in: 1. the chain transmission load is uniformly distributed, the transmission is accurate and stable, and the chain transmission device is more suitable for the requirements of frequent acceleration and deceleration of a target vehicle and accurate speed control in ADAS test. 2. Because the size of the motor 8 is limited, the motor cannot simultaneously achieve high rotating speed and high torque, the chain wheel pair is adopted for speed increasing treatment, the requirement on the motor 8 is reduced, and the cost is favorably reduced.
Example two
The chassis trolley of the bearing vehicle is different from the first embodiment in that the chassis trolley further comprises two brake mechanisms. The left steering wheel set and the right steering wheel set are respectively provided with a brake mechanism correspondingly. The rear end of the left rotating rod 1 is provided with a rotating shaft hole along the axis of the left steering wheel 9.
As shown in fig. 5, taking the brake mechanism corresponding to the left steering wheel set as an example, the brake mechanism includes a hydraulic caliper 14, a brake pad 15, a brake shaft 16, an expansion link 17, two universal joints and a front rotation shaft 18. The front rotating shaft 18 penetrates through the rotating shaft hole, one end of the front rotating shaft 18 is welded with the left steering wheel 9, the other end of the front rotating shaft 18 is connected with one end of the telescopic rod 17 through a universal joint, and the other end of the telescopic rod 17 is connected with one end of the brake shaft 16 through another universal joint. The other end of the brake shaft 16 is rotatably connected with the chassis so as to limit the brake shaft 16. When the trolley moves linearly, the brake shaft 16 is parallel to the axis of the left steering wheel 9. The brake pads 15 are welded to the brake shaft 16 and the hydraulic caliper 14 is bolted to the chassis. The hydraulic caliper 14 brakes by clamping the brake pads 15, which is prior art and will not be described further herein.
The right steering wheel is mirror symmetric with the left steering wheel 9, and the brake mechanism corresponding to the right steering wheel is not described herein again.
The steering mechanism is designed to be a connecting rod structure, and can be used for installing brake mechanisms for a left steering wheel set and a right steering wheel set in a limited space. When the brake is needed, the hydraulic calipers 14 can clamp the brake pads 15, and the braking force is transmitted to the front rotating shaft 18 through the universal joint, so that the brake of the steering wheel can be realized, and the work of the steering mechanism is not influenced.
EXAMPLE III
A chassis trolley of a bearing vehicle is different from the first embodiment in that a hydraulic push rod is adopted as a push rod.
The detection mechanism comprises a temperature sensor, a hydraulic sensor, a processing unit and an alarm unit; the temperature sensor is bonded on the shell of the hydraulic push rod and used for detecting the temperature of the shell of the shock absorber; the hydraulic pressure sensor bonds in the inside of hydraulic pressure push rod for detect inside hydraulic pressure.
The processing unit is in signal connection with the temperature sensor and the hydraulic sensor and is used for receiving a temperature signal of the temperature sensor and a hydraulic signal of the hydraulic sensor. The processing unit is pre-stored with a temperature threshold and a hydraulic threshold; the processing unit is used for comparing the temperature signal with a temperature threshold value and judging whether the temperature signal exceeds the temperature threshold value or not, the processing unit is also used for comparing the hydraulic signal with the hydraulic threshold value and judging whether the hydraulic signal exceeds the hydraulic threshold value or not, when the temperature signal exceeds the temperature threshold value and the hydraulic signal exceeds the hydraulic threshold value, the processing unit is used for sending an alarm signal to the alarm unit, and the alarm unit is used for sending an alarm prompt when the alarm signal is received. In the embodiment, the temperature sensor adopts a TR-D145 type temperature sensor; the hydraulic sensor adopts an MIK-P300 type diffused silicon pressure transmitter; the processing unit adopts stm32 series processing chips; the alarm unit adopts a buzzer, and the alarm reminding is ringing.
Due to the limitation of an experimental site, after a chassis trolley of a bearing vehicle bears an automobile to be tested, in-situ steering operation is usually forbidden, and due to the large dead weight of the automobile, a hydraulic push rod needs to bear huge resistance when acting, so that the hydraulic push rod is easy to break down after being used for a long time; in the prior art, maintenance is usually performed only when a fault has occurred. The fluid of hydraulic pressure push rod is compressed and does work, the change of temperature can appear, in this embodiment, can detect the change of temperature, whether exceed the temperature threshold value through temperature signal, and whether hydraulic signal surpasses the atress condition of hydraulic pressure push rod at present of hydraulic pressure threshold value common representation, if the atress is too big, alarm unit reports to the police, in time remind relevant staff, the staff can avoid static the turning to, reduce hydraulic pressure push rod's atress with increase of service life, perhaps carry out timely maintenance after the use. The detection is carried out through two dimensions of temperature and hydraulic pressure, the accuracy rate is higher, and the false alarm can be effectively reduced.
The foregoing is merely an example of the present invention and common general knowledge of known specific structures and features of the embodiments is not described herein in any greater detail. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.
Claims (4)
1. A chassis trolley of a bearing vehicle comprises a chassis, a steering mechanism, a left steering wheel set and a right steering wheel set, and is characterized in that the steering mechanism comprises a left connecting rod, a first middle connecting rod, a shifting fork, a push rod, a second middle connecting rod and a right connecting rod; the left steering wheel set is rotationally connected with the left end of the left connecting rod, and the right end of the left connecting rod is rotationally connected with the left end of the first middle connecting rod; the right steering wheel set is rotationally connected with the right end of the right connecting rod, and the left end of the right connecting rod is rotationally connected with the right end of the second middle connecting rod; the shifting fork comprises a left end, a right end and a protruding end which are integrally formed; the left end and the right end of the shifting fork are respectively and fixedly connected with the right end of the first middle connecting rod and the left end of the second middle connecting rod; the push rod is arranged in parallel with the first middle connecting rod and the second middle connecting rod and comprises a tail end and a movable end, the tail end is fixedly connected to the chassis, and the movable end is rotatably connected with the protruding end of the shifting fork;
the push rod adopts a hydraulic push rod;
the detection mechanism comprises a temperature sensor, a hydraulic sensor, a processing unit and an alarm unit; the temperature sensor is bonded on the shell of the hydraulic push rod and used for detecting the temperature of the shell of the hydraulic push rod; the hydraulic sensor is bonded in the hydraulic push rod and used for detecting the hydraulic pressure in the hydraulic push rod;
the processing unit is in signal connection with the temperature sensor and the hydraulic sensor and is used for receiving a temperature signal of the temperature sensor and a hydraulic signal of the hydraulic sensor; the processing unit is pre-stored with a temperature threshold and a hydraulic threshold; the processing unit is used for comparing the temperature signal with a temperature threshold value and judging whether the temperature signal exceeds the temperature threshold value or not, the processing unit is also used for comparing the hydraulic signal with a hydraulic threshold value and judging whether the hydraulic signal exceeds the hydraulic threshold value or not, when the temperature signal exceeds the temperature threshold value and the hydraulic signal exceeds the hydraulic threshold value, the processing unit is used for sending an alarm signal to the alarm unit, and the alarm unit is used for sending an alarm prompt when receiving the alarm signal;
the device also comprises a driving wheel set and two driving mechanisms; the driving wheel set comprises two driving wheels, and one driving wheel corresponds to one driving mechanism; the driving mechanism comprises a motor, a fixed base, a large rotating wheel, a chain, a small chain wheel, a rear suspension and a rear rotating shaft;
the motor is fixed on the fixed base, the fixed base is fixed on the chassis, and an output shaft of the motor faces to the corresponding driving wheel; the large rotating wheel is fixedly connected to an output shaft of the motor; the rear suspension is positioned between the driving wheel and the motor, one end of the rear suspension is rotatably connected to the chassis, the other end of the rear suspension is also provided with a through hole, the rear rotating shaft penetrates through the through hole and is parallel to an output shaft of the motor, one end of the rear rotating shaft is fixedly connected with the driving wheel, the other end of the rear rotating shaft is fixedly connected with the small chain wheel, the small chain wheel and the large rotating wheel are positioned in the same vertical plane, and the small chain wheel and the large rotating wheel are connected through a chain;
the left steering wheel group comprises a left steering wheel and a left rotating rod; the right steering wheel group comprises a right steering wheel and a right steering rod; the left steering wheel is rotatably connected with one end of the left rotating rod, and the other end of the left rotating rod is rotatably connected with the left end of the left connecting rod; the right steering wheel is rotationally connected with one end of the right steering rod; the other end of the right rotating rod is rotationally connected with the right end of the right connecting rod;
the left steering wheel set also comprises a left fixing plate, one end of the left rotating rod, which is close to the left steering wheel, is also rotatably connected with one end of the left fixing plate, and one end of the left fixing plate, which is far away from the left rotating rod, is fixedly connected with the chassis;
when the vehicle runs in a straight line, the first middle connecting rod and the second middle connecting rod are parallel to the axes of the left steering wheel and the right steering wheel, and the left rotating rod and the right rotating rod are perpendicular to the axes of the left steering wheel and the right steering wheel;
the steering mechanism further comprises a joint bearing, and the left connecting rod is rotatably connected with the left rotating rod and the first middle connecting rod through the joint bearing; the right connecting rod is rotatably connected with the right rotating rod and the second middle connecting rod through joint bearings.
2. The chassis cart of claim 1, wherein: the driving mechanism further comprises a rolling bearing, and the rolling bearing is fixed between the rear rotating shaft and the through hole.
3. The chassis cart of claim 2, wherein; the brake device also comprises two brake mechanisms; the left steering wheel set and the right steering wheel set are respectively provided with a brake mechanism correspondingly; the rear ends of the left rotating rod and the right rotating rod are both provided with rotating shaft holes along the axis of the steering wheel; the brake mechanism comprises hydraulic calipers, brake pads, a brake shaft, a telescopic rod and a front rotating shaft;
the front rotating shaft penetrates through the rotating shaft hole, one end of the front rotating shaft is fixedly connected with the left steering wheel or the right steering wheel, the other end of the front rotating shaft is connected with one end of the telescopic rod, and the other end of the telescopic rod is connected with one end of the brake shaft; the other end of the brake shaft is rotatably connected with the chassis; when the trolley moves linearly, the brake shaft is parallel to the axis of the left steering wheel or the right steering wheel; the brake block is fixed on the brake shaft, and the hydraulic caliper is fixed on the chassis.
4. The chassis cart of claim 3, wherein; the brake mechanism further comprises two universal joints, the other end of the front rotating shaft is connected with one end of the telescopic rod through one universal joint, and the other end of the telescopic rod is connected with one end of the brake shaft through the other universal joint.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911006643.6A CN110588776B (en) | 2019-10-22 | 2019-10-22 | Chassis trolley of bearing vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911006643.6A CN110588776B (en) | 2019-10-22 | 2019-10-22 | Chassis trolley of bearing vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110588776A CN110588776A (en) | 2019-12-20 |
| CN110588776B true CN110588776B (en) | 2020-10-09 |
Family
ID=68851320
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911006643.6A Active CN110588776B (en) | 2019-10-22 | 2019-10-22 | Chassis trolley of bearing vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110588776B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111521401A (en) * | 2020-04-30 | 2020-08-11 | 重庆凯瑞汽车试验设备开发有限公司 | Tool device for power assembly test |
| CN114056422A (en) * | 2021-12-27 | 2022-02-18 | 苏州方石科技有限公司 | Wheel steering mechanism and vehicle |
| CN115875615B (en) * | 2023-03-01 | 2023-05-16 | 山东欧森管道科技有限公司 | Epoxy glass fiber reinforced plastic pipeline leakage detection device and detection method thereof |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6629699B2 (en) * | 2002-02-28 | 2003-10-07 | New Holland North America, Inc. | Adjustable bogey beam support for utility vehicles |
| CN102935800A (en) * | 2012-12-04 | 2013-02-20 | 南京尤马特机械有限公司 | Self-walking scissors fork type lift platform |
| CN204472484U (en) * | 2014-12-18 | 2015-07-15 | 佛山市永力泰车轴有限公司 | Can the semitrailer axle assembly of follow-up steering |
| DE102015203632A1 (en) * | 2015-03-02 | 2016-09-08 | Zf Friedrichshafen Ag | Independent suspension with high steering angle |
| CN107351913B (en) * | 2017-07-17 | 2023-09-05 | 中通客车股份有限公司 | Active steering device for rear wheel |
| CN108168913A (en) * | 2017-12-21 | 2018-06-15 | 芜湖恒隆汽车转向系统有限公司 | Suitable for the transmission mechanism of automobile steering device abrasion test device |
| CN108082280A (en) * | 2018-01-22 | 2018-05-29 | 湖南星邦重工有限公司 | A kind of walking chassis and the high-altitude operation vehicle with the walking chassis |
| CN108458879B (en) * | 2018-01-25 | 2024-06-07 | 长沙立中汽车设计开发股份有限公司 | Method for operating active safety testing device of ultra-flat bearing robot |
| CN208515725U (en) * | 2018-05-22 | 2019-02-19 | 上海艾逻思智能设备有限公司 | A kind of AGV driving mechanism component |
| CN108749921A (en) * | 2018-06-07 | 2018-11-06 | 平湖市伶俐童车厂 | A kind of steering mechanism of 4 wheel driven children electric perambulator |
-
2019
- 2019-10-22 CN CN201911006643.6A patent/CN110588776B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN110588776A (en) | 2019-12-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110588776B (en) | Chassis trolley of bearing vehicle | |
| CN101797917B (en) | Braking device of unmanned vehicle | |
| CN110720032B (en) | Method and system for dynamometer testing of motor vehicles | |
| EP0558088B1 (en) | Rear wheel steering device for rear wheel steering | |
| CN101092105A (en) | Suspension tilting module for a wheeled vehicle and a wheeled vehicle equipped with said suspension tilting module | |
| CN201154697Y (en) | Automobile anti-collision system | |
| US20230194385A1 (en) | Vehicle testing system, steering reaction force inputting device, and steering function evaluating method | |
| CN201525407U (en) | Follow-up steering bridge assembly | |
| CN202357808U (en) | Hydraulic flat tire deviation preventive device for automobile | |
| CN221049676U (en) | Parking device and vehicle | |
| CN104097688B (en) | A kind of trailing wheel active steering apparatus and control system thereof | |
| CN113830175A (en) | Four-wheel cross-country unmanned line control vehicle | |
| CN211568084U (en) | Novel electrically-driven steering wheel set | |
| CN109291904B (en) | Brake system, golf cart, vehicle and brake control process | |
| CN106828440A (en) | A kind of tyre explosion safety servicing unit suitable for the unmanned mine car of 4 wheel driven | |
| CN116443097A (en) | Control method of hydraulic steering system, hydraulic steering system and readable storage medium | |
| CN216034644U (en) | Four-wheel cross-country unmanned line control vehicle | |
| CN216034761U (en) | Six-wheel cross-country unmanned line control vehicle | |
| CN210789818U (en) | A welding auxiliary fixtures for fork truck steer axle body | |
| CN210283895U (en) | A accelerator pedal mechanism for unmanned cycle racing | |
| CN201012681Y (en) | Emergency braking blowing apparatus | |
| JP2007510582A5 (en) | ||
| CN212148797U (en) | Electric servo brake device of electric automobile | |
| CN215475063U (en) | Braking system and vehicle | |
| CN216269696U (en) | Kart with differential function |
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 | ||
| CP03 | "change of name, title or address" | ||
| CP03 | "change of name, title or address" |
Address after: 401122 building C, block a, comprehensive R & D building, No. 9, Jinyu Avenue, northern New District, Yubei District, Chongqing Patentee after: Chongqing Kairui testing equipment Co.,Ltd. Patentee after: China Automotive Engineering Research Institute Co.,Ltd. Address before: No.9 Jinyu Avenue, new North District, Chongqing Patentee before: CHONGQING CAERI AUTOMOBILE TEST EQUIPMENT DEVELOPMENT Co.,Ltd. Patentee before: China Automotive Engineering Research Institute Co.,Ltd. |