CN110884565A - Suspension steering mechanism based on four-wheel drive platform truck - Google Patents

Suspension steering mechanism based on four-wheel drive platform truck Download PDF

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Publication number
CN110884565A
CN110884565A CN201811042775.XA CN201811042775A CN110884565A CN 110884565 A CN110884565 A CN 110884565A CN 201811042775 A CN201811042775 A CN 201811042775A CN 110884565 A CN110884565 A CN 110884565A
Authority
CN
China
Prior art keywords
steering
connecting rod
pull rod
cantilever
articulated
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201811042775.XA
Other languages
Chinese (zh)
Inventor
张广涛
褚明杰
刘文宇
郝金龙
姜铁程
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenyang Siasun Robot and Automation Co Ltd
Original Assignee
Shenyang Siasun Robot and Automation Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Shenyang Siasun Robot and Automation Co Ltd filed Critical Shenyang Siasun Robot and Automation Co Ltd
Priority to CN201811042775.XA priority Critical patent/CN110884565A/en
Publication of CN110884565A publication Critical patent/CN110884565A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D7/00Steering linkage; Stub axles or their mountings
    • B62D7/06Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
    • B62D7/14Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60GVEHICLE SUSPENSION ARRANGEMENTS
    • B60G3/00Resilient suspensions for a single wheel
    • B60G3/18Resilient suspensions for a single wheel with two or more pivoted arms, e.g. parallelogram
    • B60G3/20Resilient suspensions for a single wheel with two or more pivoted arms, e.g. parallelogram all arms being rigid
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D7/00Steering linkage; Stub axles or their mountings
    • B62D7/16Arrangement of linkage connections
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60GVEHICLE SUSPENSION ARRANGEMENTS
    • B60G2200/00Indexing codes relating to suspension types
    • B60G2200/40Indexing codes relating to the wheels in the suspensions
    • B60G2200/44Indexing codes relating to the wheels in the suspensions steerable

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)

Abstract

The invention relates to a four-wheel drive platform vehicle-based suspension steering mechanism, which comprises a vehicle body platform, a steering mechanism and a damping suspension mechanism, wherein the steering mechanism is arranged in the middle of the vehicle body platform, the damping suspension mechanism is arranged on two sides of the vehicle body platform, the steering mechanism comprises a steering motor, a connecting rod assembly and four pull rod assemblies, the four pull rod assemblies are driven to move by the steering motor, the steering motor transmits torque through the connecting rod assembly, and the pull rod assemblies are connected with the damping suspension mechanism in a one-to-one correspondence manner. The invention adds the steering mechanism to realize the pivot steering action, can meet the operation requirement of the working environment with narrow space, is provided with the damping suspension mechanism to realize damping and buffering, reduces the abrasion of tires and can meet the operation requirement of bumpy road surfaces.

Description

Suspension steering mechanism based on four-wheel drive platform truck
Technical Field
The invention relates to a suspension steering mechanism based on a four-wheel drive platform truck.
Background
Present four-wheel drive platform truck mainly used electric power industry patrols and examines, fields such as commodity circulation intelligence transport, its structure is four-wheel motor directly drives mostly, and rely on driving motor differential to realize turning to, there is turning radius on the one hand, be difficult to be applicable to the operational environment of narrow and small space, on the other hand lacks the shock attenuation buffering, make the tire often be in the slip friction state when turning to, it is serious easily to lead to tire wearing and tearing subaerial at operational environment is abominable, not only influence four-wheel drive platform truck's performance, still can produce economic loss, in addition under the circumstances of uneven ground, because four-wheel drive platform truck does not have shock mitigation system, it is unsettled to lead to one of them wheel very probably.
Disclosure of Invention
The invention aims to provide a suspension steering mechanism based on a four-wheel drive platform truck, which is additionally provided with a steering mechanism to realize in-situ steering action, can meet the operation requirement of a narrow working environment in space, is provided with a damping suspension mechanism to realize damping and buffering, reduces tire wear and can meet the operation requirement of a bumpy road surface.
Is suitable for jolting road surface operation and can realize
The purpose of the invention is realized by the following technical scheme:
the utility model provides a hang steering mechanism based on four-wheel drive platform truck, hangs the mechanism including automobile body platform, steering mechanism and shock attenuation, and steering mechanism sets up in automobile body platform middle part, all is equipped with the shock attenuation in automobile body platform both sides and hangs the mechanism, steering mechanism is including turning to motor, link assembly and four pull rod assembly, four pull rod assembly pass through turn to motor drive and remove, just turn to the motor and pass through link assembly transmission moment, pull rod assembly with the shock attenuation hangs the mechanism one-to-one and connects.
The connecting rod assembly comprises a first steering connecting rod, a second steering connecting rod, a third steering connecting rod, a fourth steering connecting rod and a guide rail, wherein the first steering connecting rod passes through the steering motor to drive and rotate, two ends of the first steering connecting rod are respectively hinged with the different second steering connecting rods, the outer end of the second steering connecting rod is hinged with the third steering connecting rod, a slider is arranged on the lower side of the third steering connecting rod and slides along the guide rail, two connecting ends are arranged on the outer side of the third steering connecting rod, each connecting end corresponds to one hinged fourth steering connecting rod, and the outer end of each fourth steering connecting rod corresponds to one hinged pull rod assembly.
The steering motor and the guide rails on the two sides are positioned on the same straight line.
The pull rod assembly comprises a first steering pull rod and a second steering pull rod, wherein one end of the second steering pull rod is hinged to the fourth steering connecting rod, the other end of the second steering pull rod is connected with the first steering pull rod through a middle ball head, and an end ball head is arranged at the outer end of the first steering pull rod and connected with a corresponding damping suspension mechanism.
The shock attenuation suspension mechanism includes bumper shock absorber, goes up the cantilever, knuckle and two-way universal joint down, it is articulated with automobile body platform lateral wall middle part to go up cantilever one end, the other end with the knuckle upside is articulated, cantilever one end is articulated with automobile body platform lateral wall lower extreme down, the other end with the knuckle downside is articulated, the bumper shock absorber upper end is articulated with automobile body platform lateral wall upper end, the other end with the cantilever middle part is articulated down, pull rod assembly pass through two-way universal joint with knuckle inner links to each other.
The automobile body platform outside is equipped with bumper shock absorber installation piece, last cantilever installation piece and lower cantilever installation piece by last under to in proper order, go up the cantilever with it is articulated to go up the cantilever installation piece, down the cantilever with the cantilever installation piece is articulated down, the bumper shock absorber with the bumper shock absorber installation piece is articulated.
The steering knuckle is internally provided with a rotatable output half shaft, and the output half shaft is connected with the bidirectional universal joint.
The output half shaft is supported and installed in the steering knuckle through a bearing.
The invention has the advantages and positive effects that:
1. the invention adds the steering mechanism to realize the pivot steering action and can meet the operation requirement of the working environment with narrow space.
2. The invention is provided with the damping suspension mechanism to realize damping and buffering, can reduce tire abrasion and can meet the requirement of operation on bumpy roads.
Drawings
Figure 1 is a general schematic view of the present invention,
figure 2 is a schematic view of the steering mechanism at a in figure 1,
figure 3 is a schematic view in direction B of figure 1,
fig. 4 is an enlarged view of fig. 3 at C.
The steering mechanism comprises a steering motor 1, a first steering connecting rod 2, a second steering connecting rod 3, a third steering connecting rod 4, a guide rail 5, a fourth steering connecting rod 6, a second steering pull rod 7, a middle ball head 8, a first steering pull rod 9, an end ball head 10, a vehicle body platform 11, a shock absorber mounting block 12, a lower cantilever mounting block 13, an upper cantilever mounting block 14, a lower cantilever 15, an upper cantilever 16, a shock absorber 17, a cantilever ball head 18, a steering knuckle 19, a bearing 20, an output half shaft 21 and a bidirectional universal joint 22.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1 to 4, the steering mechanism comprises a vehicle body platform 11, a steering mechanism and a shock absorption suspension mechanism, wherein the steering mechanism is arranged in the middle of the vehicle body platform 11, two shock absorption suspension mechanisms are respectively arranged on two sides of the vehicle body platform 11, as shown in fig. 2, the steering mechanism comprises a steering motor 1, a connecting rod assembly and four pull rod assemblies, the four pull rod assemblies are driven to move by the steering motor 1, the steering motor 1 transmits torque through the connecting rod assembly, and the pull rod assemblies are connected with the shock absorption suspension mechanisms in a one-to-one correspondence manner.
As shown in fig. 2, the link assembly includes a first steering link 2, a second steering link 3, a third steering link 4, a fourth steering link 6 and a guide rail 5, wherein the first steering link 2 is driven to rotate by the steering motor 1, two ends of the first steering link 2 are respectively hinged to different second steering links 3, an outer end of the second steering link 3 is hinged to the third steering link 4, the steering motor 1 and the guide rails 5 on two sides are located on a straight line, a slider is arranged on a lower side of the third steering link 4 and slides along the guide rail 5, two connecting ends are arranged on an outer side of the third steering link 4, the two connecting ends are respectively hinged to the fourth steering link 6, and an outer end of each fourth steering link 6 is respectively hinged to a pull rod assembly. When the mechanism works, the steering motor 1 drives the first steering connecting rod 2 to rotate, the first steering connecting rod 2 drives the second steering connecting rods 3 at two ends to swing, the second steering connecting rods 3 drive the corresponding third steering connecting rods 4 to linearly slide along the guide rail 5, and drive the two correspondingly connected fourth steering connecting rods 6 to drive the pull rod assembly to move outwards or inwards.
As shown in fig. 2, the tie rod assembly includes a first steering tie rod 9 and a second steering tie rod 7, wherein one end of the second steering tie rod 7 is hinged to the fourth steering link 6, the other end is connected to the first steering tie rod 9 through a middle ball 8, and an end ball 10 is provided at the outer end of the first steering tie rod 9 and connected to a corresponding shock absorbing suspension mechanism. In this embodiment, the middle ball head 8 is a linear ball head, the end ball head 10 is an L-shaped ball head, and the linear ball head and the L-shaped ball head can adjust smooth steering of the wheel hub under different posture conditions.
As shown in fig. 3 to 4, the shock-absorbing suspension mechanism includes a shock absorber 17, an upper suspension arm 16, a lower suspension arm 15, a knuckle 19 and a bidirectional universal joint 22, the outer side of the vehicle body platform 11 is provided with a shock absorber mounting block 12, an upper suspension arm mounting block 14 and a lower suspension arm mounting block 13 from top to bottom in sequence, one end of the upper suspension arm 16 is hinged to the upper suspension arm mounting block 14, the other end of the upper suspension arm is hinged to the upper side of the knuckle 19 through a suspension arm ball head 18, one end of the lower suspension arm 15 is hinged to the lower suspension arm mounting block 13, the other end of the lower suspension arm is hinged to the lower side of the knuckle 19 through the suspension arm ball head 18, one end of the shock absorber 17 is hinged to the shock absorber mounting block 12, the other end of the shock absorber is hinged to the middle of the lower suspension arm 15, as shown in fig. 4, a first steering rod 9 in the tie rod assembly is connected to, and the output half shaft 21 is supported and installed in the steering knuckle 19 through a bearing 20, and one end of the output half shaft 21 extends out to be connected with the bidirectional universal joint 22. In this embodiment, the cantilever ball head 18 is an L-shaped ball head, the bearing 20 is a tapered roller bearing, and the shock absorber is known in the art.
The working principle of the invention is as follows:
the invention controls the steering motor 1 through a driver on the four-wheel drive platform truck, when the steering motor 1 drives the first steering connecting rod 2 to rotate, the first steering connecting rod 2 drives the second steering connecting rod 3 at two ends to swing, the second steering connecting rod 3 drives the corresponding third steering connecting rod 4 to linearly slide along the guide rail 5 and drives the two correspondingly connected fourth steering connecting rods 6 to swing, so as to drive the pull rod assembly to drive the steering knuckle 19 to rotate around the cantilever ball head 18 at the end part of the upper cantilever 16 and the lower cantilever 15, the wheel hub is connected with the steering knuckle 19, the steering knuckle 19 is concentric with the output shaft of the driving motor, when the central planes of the four hubs are simultaneously tangent with a circle, the original four driving motors on the four-wheel drive platform truck simultaneously rotate clockwise or anticlockwise, namely, the in-situ steering action is finished, and the bidirectional universal joint 22 between the pull rod assembly and the steering knuckle 19 can finish axial compensation during the hub steering, ensuring smooth steering action. When the four-wheel drive platform truck encounters an obstacle (generally, the height is less than 15cm), the upper cantilever 16 and the lower cantilever 15 swing upwards simultaneously, and the shock absorber 17 is compressed and deformed to flush impact force, so that the shock absorption function is realized.

Claims (8)

1. The utility model provides a hang steering mechanism based on four drive platform truck which characterized in that: including vehicle body platform (11), steering mechanism and shock attenuation suspension mechanism, steering mechanism sets up in vehicle body platform (11) middle part, all is equipped with the shock attenuation in vehicle body platform (11) both sides and hangs the mechanism, steering mechanism is including turning to motor (1), link assembly and four pull rod assembly, four pull rod assembly pass through turn to motor (1) drive and remove, just turn to motor (1) and pass through link assembly transmission moment, pull rod assembly with the shock attenuation is hung the mechanism one-to-one and is connected.
2. The four-wheel drive platform cart based suspension steering mechanism of claim 1, wherein: the connecting rod assembly comprises a first steering connecting rod (2), a second steering connecting rod (3), a third steering connecting rod (4), a fourth steering connecting rod (6) and a guide rail (5), wherein the first steering connecting rod (2) is driven to rotate by a steering motor (1), two ends of the first steering connecting rod (2) are respectively hinged to different second steering connecting rods (3), the outer end of the second steering connecting rod (3) is hinged to the third steering connecting rod (4), a slider is arranged on the lower side of the third steering connecting rod (4) and slides along the guide rail (5), two connecting ends are arranged on the outer side of the third steering connecting rod (4), each connecting end corresponds to one hinged fourth steering connecting rod (6), and each outer end of each fourth steering connecting rod (6) corresponds to one hinged pull rod assembly.
3. The four-wheel drive platform cart based suspension steering mechanism of claim 2, wherein: the steering motor (1) and the guide rails (5) on the two sides are positioned on the same straight line.
4. The four-wheel drive platform cart based suspension steering mechanism of claim 2, wherein: the pull rod assembly comprises a first steering pull rod (9) and a second steering pull rod (7), wherein one end of the second steering pull rod (7) is hinged to the fourth steering connecting rod (6), the other end of the second steering pull rod is connected with the first steering pull rod (9) through a middle ball head (8), and an end ball head (10) is arranged at the outer end of the first steering pull rod (9) and connected with a corresponding damping suspension mechanism.
5. The four-wheel drive platform cart based suspension steering mechanism of claim 1, wherein: the shock attenuation suspension mechanism includes bumper shock absorber (17), goes up cantilever (16), lower cantilever (15), knuckle (19) and two-way universal joint (22), it is articulated with automobile body platform (11) lateral wall middle part to go up cantilever (16) one end, the other end with knuckle (19) upside is articulated, cantilever (15) one end is articulated with automobile body platform (11) lateral wall lower extreme down, the other end with knuckle (19) downside is articulated, bumper shock absorber (17) upper end is articulated with automobile body platform (11) lateral wall upper end, the other end with lower cantilever (15) middle part is articulated, pull rod assembly pass through two-way universal joint (22) with knuckle (19) inner links to each other.
6. The four-wheel drive platform cart based suspension steering mechanism of claim 5, wherein: automobile body platform (11) outside is equipped with bumper shock absorber installation piece (12), last cantilever installation piece (14) and lower cantilever installation piece (13) by last under to in proper order, go up cantilever (16) with it is articulated to go up cantilever installation piece (14), down cantilever (15) with cantilever installation piece (13) are articulated down, bumper shock absorber (17) with bumper shock absorber installation piece (12) are articulated.
7. The four-wheel drive platform cart based suspension steering mechanism of claim 5, wherein: a rotatable output half shaft (21) is arranged in the steering knuckle (19), and the output half shaft (21) is connected with the bidirectional universal joint (22).
8. The four-wheel drive platform cart based suspension steering mechanism of claim 7, wherein: the output half shaft (21) is supported and installed in the steering knuckle (19) through a bearing (20).
CN201811042775.XA 2018-09-07 2018-09-07 Suspension steering mechanism based on four-wheel drive platform truck Pending CN110884565A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201811042775.XA CN110884565A (en) 2018-09-07 2018-09-07 Suspension steering mechanism based on four-wheel drive platform truck

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201811042775.XA CN110884565A (en) 2018-09-07 2018-09-07 Suspension steering mechanism based on four-wheel drive platform truck

Publications (1)

Publication Number Publication Date
CN110884565A true CN110884565A (en) 2020-03-17

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CN201811042775.XA Pending CN110884565A (en) 2018-09-07 2018-09-07 Suspension steering mechanism based on four-wheel drive platform truck

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112057791A (en) * 2020-09-25 2020-12-11 广州互媒盈动文化传媒科技有限公司 Internet of things information online interaction system
CN113942774A (en) * 2020-07-15 2022-01-18 沈阳新松机器人自动化股份有限公司 Shock attenuation platform convenient to transport
CN116686521A (en) * 2023-08-08 2023-09-05 安徽省农业科学院园艺研究所 Quantitative fertilizer injection unit of melon seedling culture

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH03276875A (en) * 1990-03-27 1991-12-09 Toyoda Mach Works Ltd Four-wheel steering system
CN203094172U (en) * 2012-12-24 2013-07-31 中国科学院深圳先进技术研究院 Steer-by-wire device capable of independent steering and driving electric automobile and suspension system thereof
CN106004998A (en) * 2016-06-30 2016-10-12 西北农林科技大学 Four-wheel in-situ steering mechanism and four-wheel in-situ steering trolley
JP6167717B2 (en) * 2013-07-19 2017-07-26 日産自動車株式会社 Suspension device
CN107284524A (en) * 2016-03-30 2017-10-24 比亚迪股份有限公司 The steering of vehicle, the steering gear of vehicle and vehicle
CN107323524A (en) * 2017-07-20 2017-11-07 浙江国自机器人技术有限公司 A kind of mobile chassis and moving method of place crusing robot
CN206812741U (en) * 2017-05-23 2017-12-29 黄河科技学院 The double yoke suspensions of electric automobile

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH03276875A (en) * 1990-03-27 1991-12-09 Toyoda Mach Works Ltd Four-wheel steering system
CN203094172U (en) * 2012-12-24 2013-07-31 中国科学院深圳先进技术研究院 Steer-by-wire device capable of independent steering and driving electric automobile and suspension system thereof
JP6167717B2 (en) * 2013-07-19 2017-07-26 日産自動車株式会社 Suspension device
CN107284524A (en) * 2016-03-30 2017-10-24 比亚迪股份有限公司 The steering of vehicle, the steering gear of vehicle and vehicle
CN106004998A (en) * 2016-06-30 2016-10-12 西北农林科技大学 Four-wheel in-situ steering mechanism and four-wheel in-situ steering trolley
CN206812741U (en) * 2017-05-23 2017-12-29 黄河科技学院 The double yoke suspensions of electric automobile
CN107323524A (en) * 2017-07-20 2017-11-07 浙江国自机器人技术有限公司 A kind of mobile chassis and moving method of place crusing robot

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113942774A (en) * 2020-07-15 2022-01-18 沈阳新松机器人自动化股份有限公司 Shock attenuation platform convenient to transport
CN113942774B (en) * 2020-07-15 2023-02-21 沈阳新松机器人自动化股份有限公司 Shock attenuation platform convenient to transport
CN112057791A (en) * 2020-09-25 2020-12-11 广州互媒盈动文化传媒科技有限公司 Internet of things information online interaction system
CN116686521A (en) * 2023-08-08 2023-09-05 安徽省农业科学院园艺研究所 Quantitative fertilizer injection unit of melon seedling culture

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Application publication date: 20200317