CN112498472A - Modularized wheel type unmanned platform steering system - Google Patents
Modularized wheel type unmanned platform steering system Download PDFInfo
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- CN112498472A CN112498472A CN202011454291.3A CN202011454291A CN112498472A CN 112498472 A CN112498472 A CN 112498472A CN 202011454291 A CN202011454291 A CN 202011454291A CN 112498472 A CN112498472 A CN 112498472A
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- steering
- rocker
- cylinder
- seat
- knuckle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
-
- 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
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- 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 provides a modularized wheeled unmanned platform steering system, which comprises a steering cylinder tailstock, a steering electric cylinder, a steering upper rocker, a steering transmission shaft seat, a steering lower rocker, a first knuckle ball head, a steering pull rod, a second knuckle ball head and a knuckle goat's horn seat, wherein the steering electric cylinder is arranged on the steering cylinder tailstock; the tail seat of the steering cylinder is fixed on the frame, the tail end of the electric steering cylinder is fixed on the tail seat of the steering cylinder, the head end of the electric steering cylinder is fixed on the top of the upper steering rocker, the upper steering rocker is fixed on the frame through the steering transmission shaft seat, and the lower steering rocker, the first knuckle ball head, the steering pull rod, the second knuckle ball head and the knuckle goat angle seat are sequentially connected. The steering system of the wheeled unmanned platform is light, flexible and capable of steering and can be assembled and disassembled in a modularized mode.
Description
Technical Field
The present disclosure relates to the field of robotics, and more particularly, to a modular wheeled unmanned platform steering system.
Background
The steering system is a steering device of a wheeled unmanned platform. The unmanned platform is used as an intelligent moving carrier of the robot, can be selectively and additionally provided with a camera, a laser radar, a GPS (global positioning system), a manipulator and other equipment according to different scenes, and is widely applied to the fields of unmanned inspection, security protection, scientific research, exploration, logistics transportation, ground combat and the like. The steering mechanism is a key part for realizing steering of the wheel type unmanned platform, controls the motion direction of the unmanned platform and determines the operation stability and safety of the unmanned platform.
At present, a power steering system is mostly adopted in a steering mechanism of the wheel type unmanned platform. The movable platform adopting the power steering system has the advantages that the wheels form a whole through the connecting mechanism along the axial direction, the occupied space is large, the structure is complex, the wheels cannot be steered in situ, and the wheels cannot be steered independently, so that the applicability of the power steering unmanned platform is limited; in addition, differential steering is also adopted for steering of the unmanned platform, namely steering is realized through different rotating speeds of two wheels, and the steering mode has the problems of low steering efficiency, serious tire abrasion, incapability of steering independently and the like although the occupied space is small.
Disclosure of Invention
In order to meet the requirements of light, flexible steering and modularized disassembly and assembly of the wheel type unmanned platform steering system, the disclosure provides a modularized wheel type unmanned platform steering system.
According to one aspect of the disclosure, a modularized wheeled unmanned platform steering system comprises a steering cylinder tailstock, a steering electric cylinder, a steering upper rocker, a steering transmission shaft seat, a steering lower rocker, a first steering knuckle ball head, a steering pull rod, a second steering knuckle ball head and a steering knuckle goat horn seat; the tail seat of the steering cylinder is fixed on the frame, the tail end of the steering electric cylinder is fixed on the tail seat of the steering cylinder, the head end of the steering electric cylinder is fixed on the top of the upper steering rocker, the upper steering rocker is fixed on the frame through the steering transmission shaft seat, one end of the lower steering rocker is connected with the bottom of the upper steering rocker, the other end of the lower steering rocker is connected with one end of the steering pull rod through the first steering knuckle ball head, the other end of the steering pull rod is connected with one end of the steering knuckle goat angle seat through the second steering knuckle ball head, and the other end of the steering knuckle goat angle seat is connected with a wheel.
According to at least one embodiment of this disclosure, the tie rod includes stud and fastening nut, stud respectively with first knuckle bulb and second knuckle bulb spiro union, through the length of adjusting the stud screw in the screw with the size of adjustment tire toe, until the toe transfers to required size.
According to at least one embodiment of the present disclosure, the tail end of the steering electric cylinder is connected to the tail seat of the steering cylinder through a pin shaft and a cotter pin, and the tail seat of the steering cylinder is fixedly connected to the frame through a bolt.
According to at least one embodiment of the present disclosure, the end of the steering electric cylinder is fixedly connected to the steering rocker through a pin shaft and a cotter pin.
According to at least one embodiment of the present disclosure, the steering transmission shaft is mounted on the steering transmission shaft seat through a bushing, and the steering transmission shaft seat is connected to the frame through a screw.
After adopting above-mentioned technical scheme, this disclosure has following beneficial effect:
according to the steering electric pushing cylinder, the independent steering of the tire can be realized by controlling the telescopic length of the steering electric pushing cylinder; and the steering mechanism is arranged on two sides of the vehicle body, and meanwhile, the interference of the suspension mechanism can be avoided, and the space on the side surface of the vehicle body can be fully utilized, so that the steering mechanism is miniaturized and lightened.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the disclosure and together with the description serve to explain the principles of the disclosure.
Fig. 1 is a schematic structural diagram of the present disclosure.
Fig. 2 is a schematic structural view of a tie rod of the present disclosure.
FIG. 3 is a schematic structural view of a steering gear of the present disclosure, wherein a is a schematic structural view; b is a sectional view.
FIG. 4 is a schematic structural view of the present disclosure before and after turning to the electro-mechanical telescoping.
Detailed Description
The present disclosure will be described in further detail with reference to the drawings and embodiments. It is to be understood that the specific embodiments described herein are for purposes of illustration only and are not to be construed as limitations of the present disclosure. It should be further noted that, for the convenience of description, only the portions relevant to the present disclosure are shown in the drawings.
It should be noted that the embodiments and features of the embodiments in the present disclosure may be combined with each other without conflict. The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
As shown in fig. 1 to 3, the present disclosure provides a modularized wheeled unmanned platform steering system, which includes a steering cylinder tailstock 1, a steering electric cylinder 2, a steering upper rocker 3, a steering transmission shaft 4, a steering transmission shaft seat 5, a steering lower rocker 6, a first steering knuckle ball 7, a steering tie rod 8, a second steering knuckle ball 9, and a steering knuckle goat's horn seat 10; the steering electric cylinder tailstock 1 is fixed on a frame 11, the tail end of the steering electric cylinder 2 is fixed on the steering cylinder tailstock 1, the head end of the steering electric cylinder 2 is fixed on the top of the steering upper rocker 3, the steering upper rocker 3 is fixed on the frame 11 through the steering transmission shaft seat 5, one end of the steering lower rocker 6 is connected with the bottom of the steering upper rocker 3, the other end of the steering lower rocker 3 is connected with one end of the steering pull rod 8 through the first steering knuckle ball head 7, the other end of the steering pull rod 8 is connected with one end of the steering knuckle goat angle seat 10 through the second steering knuckle ball head 9, and the other end of the steering knuckle goat angle seat 10 is connected with a wheel 12.
According to at least one embodiment of the present disclosure, the tie rod 8 includes a double-threaded screw 81 and a fastening nut 82, the double-threaded screw 81 is respectively screwed with the first knuckle head 7 and the second knuckle head 9, and the toe angle of the tire is adjusted by adjusting the length of the double-threaded screw screwed into the screw hole until the toe angle is adjusted to a required size.
According to at least one embodiment of the present disclosure, the tail end of the steering electric cylinder 2 is connected to the steering cylinder tailstock 1 through a pin 21 and a cotter pin 22, and the steering cylinder tailstock 1 is fixedly connected to a vehicle frame through a bolt.
According to at least one embodiment of the present disclosure, the head end of the steering electric cylinder 2 is fixedly connected to the steering rocker 3 through a pin shaft and a cotter pin.
According to at least one embodiment of the present disclosure, the steering transmission shaft 4 is mounted on the steering transmission shaft seat 5 through a bushing 41, and the steering transmission shaft seat is connected to the vehicle frame through a screw.
As shown in fig. 4, the present disclosure can implement independent steering of the tire by controlling the telescopic length of the steering electric push cylinder; and the steering mechanism is arranged on two sides of the vehicle body, and meanwhile, the interference of the suspension mechanism can be avoided, and the space on the side surface of the vehicle body can be fully utilized, so that the steering mechanism is miniaturized and lightened.
The present disclosure has the following advantages: 1) the modular design is convenient for disassembly, assembly and adjustment; 2) the structure is simple, and the occupied space is small; 3) the pivot steering can be realized; 4) a steering system in which each wheel can be steered independently.
Unmanned platforms typically employ a plurality of modular steering mechanisms, such as four-wheeled unmanned platforms, and the vehicle body may employ a front-to-rear four-wheel independent steering scheme. The front and rear four wheels can turn around a point on the extension line of the middle wheel shaft by radius according to the Ackerman steering theory, so that the steering during the advancing process is realized; the center steering can be carried out around the middle point of the connecting line of the middle wheel shaft, and the in-situ turning around in a narrow environment is realized. When the platform is used, each steering mechanism can be independently controlled according to instructions, so that the functions of Ackerman steering, center steering, lateral translation and the like of the platform are realized. The system can be applied to wheel type unmanned platforms, and mainly comprises the fields of unmanned inspection, security protection, scientific research, exploration, logistics transportation, ground combat and the like.
In the description herein, reference to the description of the terms "one embodiment/mode," "some embodiments/modes," "example," "specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment/mode or example is included in at least one embodiment/mode or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to be the same embodiment/mode or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments/modes or examples. Furthermore, the various embodiments/aspects or examples and features of the various embodiments/aspects or examples described in this specification can be combined and combined by one skilled in the art without conflicting therewith.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
It will be understood by those skilled in the art that the foregoing embodiments are merely for clarity of illustration of the disclosure and are not intended to limit the scope of the disclosure. Other variations or modifications may occur to those skilled in the art, based on the foregoing disclosure, and are still within the scope of the present disclosure.
Claims (5)
1. A modularized wheeled unmanned platform steering system is characterized by comprising a steering cylinder tailstock, a steering electric cylinder, a steering upper rocker, a steering transmission shaft seat, a steering lower rocker, a first knuckle ball head, a steering pull rod, a second knuckle ball head and a knuckle goat's horn seat; the tail seat of the steering cylinder is fixed on the frame, the tail end of the steering electric cylinder is fixed on the tail seat of the steering cylinder, the head end of the steering electric cylinder is fixed on the top of the upper steering rocker, the upper steering rocker is fixed on the frame through the steering transmission shaft seat, one end of the lower steering rocker is connected with the bottom of the upper steering rocker, the other end of the lower steering rocker is connected with one end of the steering pull rod through the first steering knuckle ball head, the other end of the steering pull rod is connected with one end of the steering knuckle goat angle seat through the second steering knuckle ball head, and the other end of the steering knuckle goat angle seat is connected with a wheel.
2. The steering system as claimed in claim 1, wherein the tie rod includes a double threaded rod and a fastening nut, the double threaded rod is respectively screwed with the first knuckle ball and the second knuckle ball, and the toe angle of the tire is adjusted by adjusting the length of the double threaded rod screwed into the screw hole until the toe angle is adjusted to a desired size.
3. The steering system according to claim 1, wherein the rear end of the steering electric cylinder is connected to the tail stock of the steering cylinder by a pin shaft and a cotter pin, and the tail stock of the steering cylinder is fixed to the frame by a bolt.
4. The steering system as claimed in claim 1, wherein the steering electric cylinder head end is attached to the steering up-rocker by a pin shaft and a cotter pin.
5. The steering system of claim 1, wherein the steering shaft is mounted to the steering shaft seat by a bushing, the steering shaft seat being attached to the frame by a screw.
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CN202011454291.3A CN112498472A (en) | 2020-12-10 | 2020-12-10 | Modularized wheel type unmanned platform steering system |
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CN202011454291.3A CN112498472A (en) | 2020-12-10 | 2020-12-10 | Modularized wheel type unmanned platform steering system |
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Citations (10)
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JPH04123984A (en) * | 1990-09-17 | 1992-04-23 | Mitsubishi Motors Corp | Rear-wheel steering system for truck, etc. |
TWM252622U (en) * | 2004-03-15 | 2004-12-11 | Chih-Yu Li | Angle adjustment device for car tires |
CN202378942U (en) * | 2011-10-29 | 2012-08-15 | 郑州宇通客车股份有限公司 | Follow-up steering mechanism and independent suspension support bridge using steering mechanism |
CN104512460A (en) * | 2014-12-30 | 2015-04-15 | 徐州重型机械有限公司 | Steering arm component, steering mechanism and multi-axis steering wheel type overload vehicle |
CN106976368A (en) * | 2017-05-15 | 2017-07-25 | 厦门金龙联合汽车工业有限公司 | A kind of achievable independent suspension frame unit for turning to driving function |
CN207389300U (en) * | 2017-10-26 | 2018-05-22 | 江苏东迈重工机械有限公司 | Rear side driving wheel positioning small space turning device in aerial work platform |
CN108327787A (en) * | 2018-02-13 | 2018-07-27 | 徐州重型机械有限公司 | Wheel steering system, chassis and vehicle |
CN109795554A (en) * | 2019-02-01 | 2019-05-24 | 天津农学院 | A kind of vehicle angle sensors mounting structure convenient for adjusting |
CN110091917A (en) * | 2019-04-09 | 2019-08-06 | 山东理工大学 | Hub motor electric vehicle with four-wheel independent steering function |
CN110293810A (en) * | 2019-06-30 | 2019-10-01 | 重庆长安汽车股份有限公司 | A kind of torsion beam rear suspension with active steering function |
-
2020
- 2020-12-10 CN CN202011454291.3A patent/CN112498472A/en active Pending
Patent Citations (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH04123984A (en) * | 1990-09-17 | 1992-04-23 | Mitsubishi Motors Corp | Rear-wheel steering system for truck, etc. |
TWM252622U (en) * | 2004-03-15 | 2004-12-11 | Chih-Yu Li | Angle adjustment device for car tires |
CN202378942U (en) * | 2011-10-29 | 2012-08-15 | 郑州宇通客车股份有限公司 | Follow-up steering mechanism and independent suspension support bridge using steering mechanism |
CN104512460A (en) * | 2014-12-30 | 2015-04-15 | 徐州重型机械有限公司 | Steering arm component, steering mechanism and multi-axis steering wheel type overload vehicle |
CN106976368A (en) * | 2017-05-15 | 2017-07-25 | 厦门金龙联合汽车工业有限公司 | A kind of achievable independent suspension frame unit for turning to driving function |
CN207389300U (en) * | 2017-10-26 | 2018-05-22 | 江苏东迈重工机械有限公司 | Rear side driving wheel positioning small space turning device in aerial work platform |
CN108327787A (en) * | 2018-02-13 | 2018-07-27 | 徐州重型机械有限公司 | Wheel steering system, chassis and vehicle |
CN109795554A (en) * | 2019-02-01 | 2019-05-24 | 天津农学院 | A kind of vehicle angle sensors mounting structure convenient for adjusting |
CN110091917A (en) * | 2019-04-09 | 2019-08-06 | 山东理工大学 | Hub motor electric vehicle with four-wheel independent steering function |
CN110293810A (en) * | 2019-06-30 | 2019-10-01 | 重庆长安汽车股份有限公司 | A kind of torsion beam rear suspension with active steering function |
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Application publication date: 20210316 |