CN1698563A - Four-wheel steering electric walk instead vehicle - Google Patents
Four-wheel steering electric walk instead vehicle Download PDFInfo
- Publication number
- CN1698563A CN1698563A CN 200510025863 CN200510025863A CN1698563A CN 1698563 A CN1698563 A CN 1698563A CN 200510025863 CN200510025863 CN 200510025863 CN 200510025863 A CN200510025863 A CN 200510025863A CN 1698563 A CN1698563 A CN 1698563A
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- China
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- wheel
- back vent
- moving device
- fork
- front fork
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Abstract
The invention provides a four-wheel steering electric walk instead vehicle, wherein a front and a rear fork devices are arranged on the frame, the fork devices are driven by a front and a rear connecting rod connected with a front and a rear fork rocker arms for synchronous movement, and corresponding wheel diversion movements are realized through the synchronous control by each fork boards, thus the four wheels are steered simultaneously under control, and the minimum turning radius is determined by the point of intersection of the four wheel axis. The minimum turning radius can be reduced by around 30%.
Description
Technical field,
The present invention relates to a kind of electric wheel-chair vehicle, particularly a kind of electric bicycle that has four-wheel steering mechanism, is convenient to optional turning in less range of activity.
Background technology
Existing electric wheel-chair vehicle chassis usually is provided with three wheels or four wheels, and what wherein have the function of turning to only has one or two wheels.By often knowing, the axes intersect of the wheel that car only turns to function in axis and other nothings of deflecting roller is on some the time, wheel just can be in the pure rolling state, at this moment face the frictional force minimum of wheel, could turn very like a cork, and the axial line distance between this joining and the nearest wheel promptly is defined as radius of turn.Obviously, for the car that has only a deflecting roller, its radius of turn is smaller with respect to the radius of turn that is provided with two deflecting roller cars, but stable relative mistake is a little; And for the car that is provided with two deflecting rollers, the precondition that car enters the pure rolling state is that the axes intersect point of two deflecting rollers just in time is positioned on the fixed axis of other two non-deflecting rollers, its radius of turn is the axial line distance between this point and nearest non-deflecting roller, radius of turn than the car that has only a deflecting roller is big relatively, if be used for indoor, because radius of turn is inadequately little, case of collision when being easier to take place to turn.
Summary of the invention
The objective of the invention is to provide a kind of and control conveniently, can more among a small circle in, easily turn, not only be suitable for outdoor application, but also the novelty that is suitable for indoor use take turns Wheel-chair.
The present invention is achieved in that a cover four-wheel steering mechanism is set, make the four wheels on the carriage underframe all have the controlled function that turns to, and guarantee the optimum deflection angular range of each wheel from structure, thereby find out min. turning radius by this four wheels axes intersect point decision, infer thus and adopt car of the present invention to enter the easily minimum activity range of turning of pure rolling state, realization, can be used for indoor deep implication of riding instead of walk thereby draw.
Based on above-mentioned design, because four wheels is all participated in and is turned to ranks, intersected at radius of turn of some forming compiles the crossing radius of turn that forms with a fixed axis of the axis that turns to wheel by two and two non-deflecting rollers and compares by four axis, under the wheel base precondition identical, can shorten about 30% with width.Actual tests proves, as long as reasonably design and be provided with the moving system of four-wheel steering operating mechanism and fork, just can make electric wheel-chair vehicle become people with disability or old people, thereby have clearly technical advance and very strong practicality at indoor, outdoor all spendable walking-replacing tool.
Description of drawings
Fig. 1 is the steering mechanism sketch map of prior art of the present invention;
Fig. 2 is the steering mechanism sketch map of wheel of the present invention when working in maximum deflection angle;
Fig. 3 is the steering mechanism sketch map of wheel of the present invention when working in 1/2 deflection angle;
Fig. 4 is wheel of the present invention each member position sketch map when working in the zero deflection angle;
Fig. 5 is a chassis of the present invention basic structure sketch map;
Fig. 6 is the moving apparatus structure sketch map of back vent of the present invention;
Fig. 7 is the moving apparatus structure sketch map of front fork of the present invention.
Among the figure:
1. left drag link 4. back vents in left rear wheel 2. off hind wheels, 3. backs move plate
5. right drag link 6. left rocking arm 7. right rocking arm 8. the near front wheels after
9. left drag link 12. front forks move plate before off-front wheel 10. carrier frames 11.
13. preceding right drag link 14. left tie rod arm 15. right tie rod arm 16. front-rear linkages
17. right turn joint before the left steering joint 20. before the back left steering joint 18. back right turn joints 19.
21. the moving device 23. of moving device 22. front forks of back vent is handled cable wire 24. cable wire locating supports
25. the moving device vertical pivot of moving device pedestal 28. back vents of fork Moving plate 26. oiliness bearings 27. back vents
29. back vent shakes arm 30. axle sleeves 31. bases 32. screws
33. flat key 34. back-up rings 35. balls 36. flat keys
37. little pivot pin 38. flat keys 39. joint ball studs 40. plain washers
41. moving device vertical pivot 42. oiliness bearings 43. front forks of front fork shake arm 44. cable wire terminal lassos
45. base axle sleeve 46. nuts 47. little pivot pins
The specific embodiment
Fig. 1 has been shown prior art involved in the present invention, and left rear wheel 1 and off hind wheel 2 are deflecting roller, is provided with the left drag link 3 in back, the moving plate 4 of back vent and the right drag link 5 in back between left rear wheel 1 and off hind wheel 2; One end of the left drag link 3 in back and the left rocking arm 6 on the left rear wheel 1 are movably connected, and the moving plate 4 of the other end and back vent is movably connected; One end of the right drag link 5 in back and the right rocking arm 7 on the off hind wheel 2 are movably connected, and the moving plate 4 of the other end and back vent is movably connected; The deflection action of left rear wheel 1 and off hind wheel 2 is controlled by the moving plate 4 of back vent by the right drag link 5 of left drag link in back 3 and back respectively, the position of the joining of their axis " 0 " can with left rear wheel 1 and off hind wheel 2 separately the variation of deflection angle change; The near front wheel 8 and off-front wheel 9 are non-deflecting roller, and their axis is a fixing straight line; When having only axes intersect point when left rear wheel 1 and off hind wheel 2 to be positioned on the axis of the near front wheel 8 and off-front wheel 9, car just can enter the pure rolling state, easily turns.According to Theoretical Calculation and facts have proved, but the deflection angle of left rear wheel 1 and off hind wheel 2 is relevant with width, the length of carriage underframe framework 10, under shown position, the maximum deflection angle of left rear wheel 1 is 25 degree, the maximum deflection angle of off hind wheel 2 is 41 degree, and the shortest consequent radius of turn is about 47.5 centimetres.
Fig. 2 gives the carrier frame 10 that has shown among four-wheel steering wheel Wheel-chair employing of the present invention and Fig. 1, be antero posterior axis spacing, left and right wheels spacing homogeneous phase with the steering mechanism during maximum deflection angle under the situation, because left rear wheel 1 and off hind wheel 2, the near front wheel 8 and off-front wheel 9 four wheels are all participated in go to action, the junction of axis point " 0 " can be offset forward naturally separately, obviously helps shortening radius of turn.Left drag link 11, the moving plate 12 of front fork and preceding right drag link 13 before between the near front wheel 8 and off-front wheel 9, being provided with; One end of preceding left drag link 11 and the left tie rod arm 14 on the near front wheel 8 are movably connected, and the moving plate 12 of the other end and front fork is movably connected, and an end of preceding right drag link 13 and the right tie rod arm 15 on the off-front wheel 9 are movably connected, and the moving plate 12 of the other end and front fork is movably connected; With moving plate 12 of front fork and moving plate 4 member that rigidity links to each other separately of back vent between be provided with front-rear linkage 16.During work, by the moving plate 4 of back vent by front-rear linkage 16 drive moving plate 12 synchronization actions of front forks, again by back left drag link 3, the right drag link 5 in back, preceding left drag link 11 and the preceding right drag link 13 of anti-phase company are handled control left rear wheels 1, off hind wheel 2, the near front wheel 8 and off-front wheel 9 deflections synchronously with it.According to Theoretical Calculation and facts have proved, on the basis that keeps left rear wheel 1 and off hind wheel 2 maximum deflection angle, the maximum deflection angle of the near front wheel 8 is 7 degree, and the maximum deflection angle of off-front wheel 9 is 11 degree, and its shortest radius of turn is about 32.5 centimetres.Shortened about 30% than the prior art under the equal conditions.
Fig. 3 gives the steering mechanism sketch map that has shown when each wheel works in 1/2 maximum deflection angle, their axis still can intersect at a bit on " 0 ", explanation is in this angular deflection scope, and wheel all can be in the pure rolling state, and numerous " 0 " point can form a pure rolling trajectory.
Fig. 4 is wheel of the present invention each member position sketch map when working in the zero deflection angle, and under car craspedodrome state, left rear wheel 1, off hind wheel 2 are the axially parallel state with carrier frame 10.The back left drag link 3, the back right drag link 5, with carrier frame 10 be axial plumbness.
In Fig. 5, Fig. 6 and Fig. 7, on the carrier frame 10 of four-wheel steering electric walk instead vehicle of the present invention, also be provided with the left and right sides, back knuckle 17 and 18, preceding left and right sides knuckle 19 and 20, the moving device 21 of back vent, the moving device 22 of front fork, handle cable wire 23, cable wire locating support 24, cable wire fork Moving plate 25 and cable wire terminal lasso 44.Wherein: 9 movable assemblings link to each other with off-front wheel with left rear wheel 1, off hind wheel 2, the near front wheel 8 with 20 by the left and right sides, back knuckle 17 and 18, preceding left and right sides knuckle 19 respectively for left rocking arm 6, right rocking arm 7, left tie rod arm 14 and right tie rod arm 15.
The moving device 21 of back vent is arranged on rear portion crosspiece 1/2 place of carrier frame 10, mainly by the moving device pedestal 27 of back vent, back vent moves device vertical pivot 28, back vent shakes arm 29, fork Moving plate 25, axle sleeve 30, the moving plate 4 of base 31 and back vent is formed, base 31 is fixedly installed on rear portion crosspiece 1/2 place of carrier frame 10, its outer surface is provided with sagging half slot, the moving device vertical pivot 28 of back vent is by axle sleeve 30, base 31 is movably arranged on the rear portion crosspiece of carrier frame 10, it stretches out in, and suit is provided with the moving device pedestal 27 of back vent on the straight shelves upper axis, the moving plate 4 of fork Moving plate 25 and back vent, the moving plate 4 of fork Moving plate 25 and back vent fixedly is assemblied on the moving device pedestal 27 of fork by screw 32, and fixed spacing by flat key 33 and back-up ring 34, the moving plate 4 of back vent is provided with for the activity limit mounting joint ball stud 39 that one end of the right drag link 5 of one end and back of the left drag link 3 in back is used is set, the lower surface of the moving device pedestal 27 of back vent is provided with the half slot that caves in, between the sagging half slot on itself and base 31 outer surfaces, inlay and be provided with a circle ball 35, stretch out on the lower axial end of crosspiece at the moving device vertical pivot 28 of back vent, there is back vent to shake arm 28 by flat key 36 close-fittings, the end that back vent shakes arm 28 is provided with an aperture, inlay in the hole and be provided with oiliness bearing 26, went here and there the aperture spacing assembling in addition of oiliness bearing 26 and front-rear linkage 16 1 ends by little pivot pin 37.
The moving device 22 of front fork is mounted on the front straight shelves of carrier frame 10, mainly by the moving device vertical pivot 41 of front fork, front fork moves plate 12, moving device base axle sleeve 45 of front fork and front fork shake arm 43 and form, the moving device vertical pivot 41 of front fork is movably arranged on the front straight shelves of carrier frame 10 by base axle sleeve 45, it stretches out on the upper end of straight shelves by flat key 33 and nut 46 and the installing of packing ring 41 fixed covers and is equipped with the moving plate 12 of front fork, the moving plate 12 of front fork is provided with the joint ball stud 39 for left drag link 11 and preceding right drag link 13 usefulness before movable the installation, it stretches out on the bottom of straight shelves and shakes arm 43 by the flat key 38 spacing front forks that are set with, front fork shakes arm 43 end positions and is provided with an aperture, its inside is inlayed and is provided with oiliness bearing 42, goes here and there the aperture spacing assembling in addition of the oiliness bearing 42 and front-rear linkage 16 other ends by little pivot pin 47.
During work, drive 25 rotations of fork Moving plate by manual steering wheel by handling cable wire 23, drive moving plate 4 left-right rotation of the back vent that is the rigidity assembling with it simultaneously, thereby by driving right drag link 5 left and right sidesing shiftings of back left drag link 3 and back that are movably connected with it, and left rocking arm 6 by being movably connected with it, right rocking arm 7, back left steering joint 17, back right turn joint 18 drives left rear wheel 1, off hind wheel 2 left and right sides deflections, the moving device vertical pivot 28 of back vent also rotates synchronously simultaneously, thereby driving front-rear linkage 16 when ordering about back vent to shake arm deflection moves forward and backward, the front fork that drives on the moving device 22 of front fork shakes arm 43 deflections, ordering about the moving device vertical pivot 41 of front fork simultaneously rotates, front fork moves plate 12 deflections, preceding left drag link 11 that drive is attached thereto and preceding right drag link 13, and left tie rod arm 14, right tie rod arm 15, preceding left steering joint 19, preceding right turn joint 20 drives the near front wheel 8 and off-front wheel 9 synchronous left and right sides deflections, when left rear wheel 1, off hind wheel 2, when the near front wheel 8 and off-front wheel 9 four-wheel axes intersect are a bit, car is in the pure rolling state, just can easily turn.Because four wheels can be made synchronous deflection action by the minimum theoretical radius of turn of design, is convenient to freely turn in less range of activity, becomes all spendable practical car of riding instead of walk of indoor and outdoor.
Claims (3)
1. an electric wheel-chair vehicle is characterized in that all controlled deflection simultaneously of left rear wheel (1), off hind wheel (2), the near front wheel (8) and off-front wheel (9), participates in go to action, effectively shortens the min. turning radius of car.
2. electric wheel-chair vehicle according to claim 1 is characterized in that described min. turning radius under the wheelbase carrier frame condition identical with width, compares at least with prior art two-wheel steering (2 ws) car and can shorten 30%.
3. electric wheel-chair vehicle, include carrier frame (10), left rear wheel (1), off hind wheel (2), the near front wheel (8), off-front wheel (9), back left drag link (3), back right drag link (5), left rocking arm (6), right rocking arm (7) and the moving device (21) of back vent, it is characterized in that:
A. the moving device (21) of back vent is arranged on rear portion crosspiece 1/2 place of carrier frame (10), mainly by the moving device pedestal (27) of back vent, back vent moves device vertical pivot (28), back vent shakes arm (29), fork Moving plate (25), axle sleeve (30), the moving plate (4) of base (31) and back vent is formed, base (31) is fixedly installed on rear portion crosspiece 1/2 place of carrier frame (10), its outer surface is provided with sagging half slot, the moving device vertical pivot (28) of back vent is by axle sleeve (30), base (31) is movably arranged on the rear portion crosspiece of carrier frame (10), its axle that stretches out in crosspiece top is gone up suit and is provided with the moving device pedestal (27) of back vent, the moving plate (4) of fork Moving plate (25) and back vent, the moving plate (4) of fork Moving plate (25) and back vent fixedly is assemblied on the moving device pedestal (27) of fork by screw (32), and fixed spacing by flat key (33) and back-up ring (34), back vent moves plate (4) and is provided with joint ball stud (39), the lower surface of the moving device pedestal (27) of back vent is provided with the half slot that caves in, between the sagging half slot on itself and base (31) outer surface, inlay and be provided with a circle ball (35), stretch out on the lower axial end of crosspiece at the moving device vertical pivot (28) of back vent, there is back vent to shake arm (28) by flat key (36) close-fitting, the end that back vent shakes arm (28) is provided with an aperture, inlay in the hole and be provided with oiliness bearing (26), went here and there the aperture spacing assembling in addition of oiliness bearing (26) and front-rear linkage (16) one ends by little pivot pin (37);
B. left drag link (11), the moving plate (12) of front fork and preceding right drag link (13) before between the near front wheel (8) and off-front wheel (9), being provided with, one end of preceding left drag link (11) is movably connected with the left tie rod arm (14) that is arranged on the near front wheel (8), the other end and front fork move plate (12) and are movably connected, one end of preceding right drag link (13) is movably connected with the right tie rod arm (15) that is arranged on the off-front wheel (9), and the other end and front fork move plate (12) and be movably connected;
C. on the front straight shelves of carrier frame (10), install and be provided with mainly by the moving device vertical pivot (41) of front fork, front fork moves plate (12), moving device base axle sleeve (45) of front fork and front fork shake the moving device (22) of front fork that arm (43) is formed, the moving device vertical pivot (41) of front fork is movably arranged on the front straight shelves of carrier frame (10) by base axle sleeve (45), stretch out on the upper axial of straight shelves to install at it and be equipped with front fork and move plate (12) by flat key (33) and nut (46) and packing ring (41) fixed cover, front fork moves plate (12) and is provided with joint ball stud (39), it stretches out on the bottom of straight shelves and shakes arm (43) by the spacing front fork that is set with of flat key (38), front fork shakes arm (43) end position and is provided with an aperture, its inside is inlayed and is provided with oiliness bearing (42), goes here and there the aperture spacing assembling in addition of the oiliness bearing (42) and front-rear linkage (16) other end by little pivot pin (47).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200510025863 CN1698563A (en) | 2005-05-17 | 2005-05-17 | Four-wheel steering electric walk instead vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200510025863 CN1698563A (en) | 2005-05-17 | 2005-05-17 | Four-wheel steering electric walk instead vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN1698563A true CN1698563A (en) | 2005-11-23 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200510025863 Pending CN1698563A (en) | 2005-05-17 | 2005-05-17 | Four-wheel steering electric walk instead vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1698563A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102038586A (en) * | 2011-01-20 | 2011-05-04 | 北京航空航天大学 | Omnidirectional mobile device for electric wheelchair |
| CN102358342A (en) * | 2011-09-09 | 2012-02-22 | 杭州赛奇高空作业机械有限公司 | Four-wheel driving double-steering travelling device and method |
| CN102514620A (en) * | 2011-11-24 | 2012-06-27 | 华南农业大学 | Tractor identical-track steering mechanism and steering method thereof |
| CN107155426A (en) * | 2017-07-17 | 2017-09-15 | 桑建平 | A kind of universal agricultural machinery and implement of four-wheel |
| CN107280868A (en) * | 2016-04-12 | 2017-10-24 | 梁少川 | A kind of multifunctional electric wheelchair bed |
| CN107347470A (en) * | 2017-09-11 | 2017-11-17 | 周航 | A kind of Omni-mobile pruning fruit tree car |
| CN109533086A (en) * | 2019-01-08 | 2019-03-29 | 陈宗善 | Electric car |
-
2005
- 2005-05-17 CN CN 200510025863 patent/CN1698563A/en active Pending
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102038586A (en) * | 2011-01-20 | 2011-05-04 | 北京航空航天大学 | Omnidirectional mobile device for electric wheelchair |
| CN102038586B (en) * | 2011-01-20 | 2012-05-23 | 北京航空航天大学 | Omnidirectional mobile device for electric wheelchair |
| CN102358342A (en) * | 2011-09-09 | 2012-02-22 | 杭州赛奇高空作业机械有限公司 | Four-wheel driving double-steering travelling device and method |
| CN102514620A (en) * | 2011-11-24 | 2012-06-27 | 华南农业大学 | Tractor identical-track steering mechanism and steering method thereof |
| CN107280868A (en) * | 2016-04-12 | 2017-10-24 | 梁少川 | A kind of multifunctional electric wheelchair bed |
| CN107155426A (en) * | 2017-07-17 | 2017-09-15 | 桑建平 | A kind of universal agricultural machinery and implement of four-wheel |
| CN107347470A (en) * | 2017-09-11 | 2017-11-17 | 周航 | A kind of Omni-mobile pruning fruit tree car |
| CN107347470B (en) * | 2017-09-11 | 2022-11-29 | 周航 | Omnidirectional movement fruit tree pruning vehicle |
| CN109533086A (en) * | 2019-01-08 | 2019-03-29 | 陈宗善 | Electric car |
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