CN201670261U - Moving platform steering mechanism - Google Patents
Moving platform steering mechanism Download PDFInfo
- Publication number
- CN201670261U CN201670261U CN2010201922545U CN201020192254U CN201670261U CN 201670261 U CN201670261 U CN 201670261U CN 2010201922545 U CN2010201922545 U CN 2010201922545U CN 201020192254 U CN201020192254 U CN 201020192254U CN 201670261 U CN201670261 U CN 201670261U
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- machine
- connecting rod
- driving lever
- tumbler
- wheel
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Abstract
The utility model discloses a moving platform steering mechanism comprising a motor, a receiver, a remote controller, wheel shafts, a shoe plate, a turned part, a connecting rod, a deflector rod, an U-shaped steel and a frame, wherein The DC motor is fixed to the frame through the U-shaped steel and performs a direct-reverse rotation through the remote controller and the receiver; wherein the direct-reverse rotation of the motor drives the deflector rod to swing left and right, which causes the turned part to move, the turned part in turn driving the connecting rod to move left and right, the connecting rod moving and driving the shoe plate to swing left and right and driving the rotation of wheels through the wheel shafts. The steering mechanism has the advantages of simple structure, convenient operation and low producing cost. The steering mechanism remotely control moving platform and can adjust minimal turning radius through adjustment of front side distance of the connecting rod and the shoe plate.
Description
Technical field
The utility model belongs to field of mechanical technique, relates to a kind of steering mechanism of movable platform, realizes mobile platform front-wheel automatic steering by the rotating kinetic energy of control motor.
Background technology
In production reality, as being realization farming machine AUTONOMOUS TASK in the agricultural production, realization is to field information acquisition, accurately spray chemical fertilizer, agricultural chemicals, herbicide automatically, in commercial production, realize material handling, transfer etc., often need a kind of energy to realize the four-wheel mobile platform of independently walking and turning to.The mobile platform steering mode mainly contains two kinds at present: the mobile platform that a kind of intellectuality is higher, adopt four wheel drive, four-wheel steering mode.Four motors drive 4 wheels simultaneously, use 4 electric machine control four wheels to turn in addition, make wherein arbitrary wheel all can realize freely rotating in 360 °, but adopt this kind steering mode that synchronism is had relatively high expectations, poor reliability, complicated operation, cost is higher, also is in test session at present.A kind of better simply steering mode, be to provide steering torque to make wheel steering with hand direct control steering handwheel etc., but autonomous in actual applications mobile platform often needs to be deep into the occasion that various staff are difficult to direct contact, so this kind steering mode is not suitable for Long-distance Control, restricted application.
On March 5th, 2008, disclosed Chinese patent application 200610086128.X provided a kind of all-wheel powered electric power steering.Adopt a plurality of recirculating ball electric direction varying device+controllers+steering gear connection to form whole whole-wheel electric steering system.This multi axle drive vehicle, every axle be axle drive shaft be again steering shaft, electric direction varying device and corresponding steering gear connection all have been installed on every axle.This multiaxis electric power steering is implemented the multi-axle motor servo-steering under the control of a master controller; In each driving---under the restriction of custom-designed steering gear connection, the a/s track of each wheel can be implemented tight turn radius and turn to the crab every trade on the steering shaft.Controller advances and turns to by torque sensor and car speed sensor control vehicle, but because controller is had relatively high expectations, its real-time, synchronism, stability are difficult to be guaranteed, and are not suitable for Long-distance Control vehicle automatic steering.
Summary of the invention
The purpose of this utility model is the problem that exists at existing mobile platform, provides a kind of simple in structure, easy to operate, lower-cost electric steering mechanism.
For achieving the above object, the utility model adopts technical scheme as follows:
A kind of four-wheel steering mechanism of movable platform comprises DC machine, receptor, remote controller, wheel shaft, stay bearing plate, tumbler, connecting rod, driving lever and frame.DC machine is fixed on the frame, and motor links to each other with receptor by lead, and motor output shaft is fixed in the driving lever one end axle sleeve, and receptor inside contains infrared or wireless receiving module; The hand control remote controller makes motor positive and inverse moving, and the rotation of motor drives the swing of driving lever; Driving lever one end passes tumbler, and tumbler is placed on respectively in the through hole of fastener and connecting rod at two ends up and down, and tumbler is free to rotate; The motion of driving lever swing causing tumbler, tumbler drivening rod sway, connecting rod links to each other with the stay bearing plate front side, drive the swing of supported on both sides plate by the sway of connecting rod, the stay bearing plate downside links to each other with wheel shaft, drive by wheel shaft realizes that two-wheel rotates synchronously, thereby realizes the rotation of four-wheel mobile platform.
DC machine is fixed on the frame by the U-shaped steel, opens a circular hole in the middle of the U-shaped steel, and the DC machine output shaft is fixed in the axle sleeve of driving lever one end by circular hole.
Described stay bearing plate is divided into downside, upside and front side three parts; The downside both sides use bearing, connecting panel to link to each other with wheel shaft with bolt and nut, and upside plays the frames effect, and the front side links to each other with connecting rod by straight pin.
Described driving lever is that an axle sleeve and a round bar are welded; Axle sleeve leaves a tapped bore and screws in tightening screw, and the DC machine output shaft is fixed in the axle sleeve.
Adopt steering mechanism of movable platform described in the utility model owing to adopted above technical scheme, make it have following advantage and characteristics:
1, receptor inside contains wireless or infrared receiving module, can use a teleswitch to realize turning to of Long-distance Control mobile platform.
2, steering hardware becomes symmetrical structural arrangement, and is simple in structure, can realize that two-wheeled turns to synchronously.Leave a fixed gap in tumbler and fastener and the connecting rod circular hole, tumbler rotates flexibly, can not killed.
3, can regulate minimum turning radius by the distance of regulating between stay bearing plate front side and the connecting rod.Whole steering hardware mounting or dismounting are convenient, and cost is low, and driving efficiency is higher.
Description of drawings
To embodiments of the invention and in conjunction with the description of its accompanying drawing, can further understand purpose of the present invention and specific structural features by following.Wherein, accompanying drawing is:
Fig. 1 is the steering mechanism of movable platform block diagram
Fig. 2 is connecting rod, driving lever, tumbler, fastener locations graph of a relation
Fig. 3 is motor output shaft and driving lever connection diagram
Fig. 4 is the tumbler detail drawing
Fig. 5 is the stay bearing plate detail drawing
Among the figure: 1. frame; 2. receptor; 3. remote controller; 4. motor; 5.U shape steel; 6. stay bearing plate; 7. connecting rod; 8. driving lever; 9. wheel shaft; 10. fastener; 11. tumbler
The specific embodiment
Further specify technical scheme of the present invention below in conjunction with accompanying drawing and example.
The utility model steering hardware as shown in Figure 1, 2 comprises remote controller 3, and remote controller 3 is used for sending control command, can control motor 4 by different key and just change, reverses and stopping; Receptor 2, inside contains infrared receiving module, can accept the instruction that remote controller 3 sends, and by these instruction control motor 4 rotatings and stop, receptor 2 adopts the 24V DC power supply; DC machine 4 links to each other by lead with receptor 2, and motor 4 is fixed on the U-shaped steel 5 by bolt and nut, and U-shaped steel 5 is welded on the frame 1, has a through hole in the middle of the U-shaped steel 5, and motor output shaft is placed downwards by this through hole; Driving lever 8 is welded by oval bar and axle sleeve, as shown in Figure 3, by tightening screw motor output shaft is fixed in the driving lever 8 one end axle sleeves, and driving lever 8 other ends pass tumbler 11; As shown in Figure 4, tumbler 11, thin up and down barrel portion places fastener 10 and connecting rod 7 circular holes respectively, and is free to rotate; Fastener 10 is fixed on the connecting rod 7 by bolt and nut; Connecting rod 7 connects supported on both sides plate 6, links to each other with stay bearing plate 6 front sides by straight pin; Stay bearing plate 6, as shown in Figure 5, stay bearing plate 6 is divided into upside, downside, front side three parts, downside links to each other with wheel shaft 9 by bearing, connecting panel, bolt and nut, upside plays 1 effect of support mobile platform frame, and front side and connecting rod 7 are hinged, between stay bearing plate upside and the downside reinforcing rib structure are arranged; Wheel shaft 9 connects stay bearing plate 6 and wheel.
Working process of the present utility model is: realize that by the different key of manually pressing remote controller 3 the control motor just changes, the counter-rotating and stop, motor 4 rotates and drives driving lever 8 swings, effect by fastener 10 and tumbler 11, drivening rod 7 sway, connecting rod 7 moves drive stay bearing plate 6 and swings, and the stay bearing plate downside drives the rotation of wheel by wheel shaft.
Though the utility model above is being illustrated according to preferred embodiment, but this does not represent that the present invention is confined to above-mentioned structure, for example U-shaped steel 5 and frame 1 can be fixed on purpose on the frame 1 as long as reach U-shaped steel 5 by welding or bolt and nut connection.
Claims (4)
1. four-wheel steering mechanism of movable platform, it is characterized in that: described steering hardware comprises DC machine (4), receptor (2), remote controller (3), wheel shaft (9), stay bearing plate (6), tumbler (11), connecting rod (7), driving lever (8) and frame (1); DC machine (4) is fixed on the frame (1), and DC machine (4) links to each other with receptor (2) by lead, and DC machine (4) output shaft is fixed in the axle sleeve of driving lever (8) one ends, and receptor (2) inside contains infrared or wireless receiving module; Hand control remote controller (3) makes the positive and negative rotation of DC machine (4), and the rotation of DC machine (4) drives the swing of driving lever (8); Driving lever (8) one ends pass tumbler (11), and tumbler (11) two ends up and down is placed on respectively in the through hole of fastener (10) and connecting rod (7), and tumbler (11) can freely rotate; Driving lever (8) swing the causing motion of tumbler (11), tumbler (11) drivening rod (7) sway, connecting rod (7) links to each other with stay bearing plate (6) front side, drive the swing of supported on both sides plate (6) by the sway of connecting rod (7), stay bearing plate (6) downside links to each other with wheel shaft (9), drive by wheel shaft (9) realizes that two-wheel rotates synchronously, thereby realizes the rotation of four-wheel mobile platform.
2. steering hardware according to claim 1 is characterized in that: DC machine (4) is fixed on the frame by U-shaped steel (5), opens a circular hole in the middle of the U-shaped steel (5), and DC machine (4) output shaft is fixed in the axle sleeve of driving lever (8) one ends by circular hole.
3. steering hardware according to claim 1 is characterized in that, described stay bearing plate (6) is divided into downside, upside and front side three parts; The downside both sides use bearing, connecting panel to link to each other with wheel shaft (9) with bolt and nut, and upside plays the frames effect, and the front side links to each other with connecting rod (7) by straight pin.
4. steering hardware according to claim 1 is characterized in that, described driving lever (8) is that an axle sleeve and a round bar are welded; Axle sleeve leaves a tapped bore and screws in tightening screw, and DC machine (4) output shaft is fixed in the axle sleeve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010201922545U CN201670261U (en) | 2010-05-14 | 2010-05-14 | Moving platform steering mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010201922545U CN201670261U (en) | 2010-05-14 | 2010-05-14 | Moving platform steering mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201670261U true CN201670261U (en) | 2010-12-15 |
Family
ID=43327673
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010201922545U Expired - Lifetime CN201670261U (en) | 2010-05-14 | 2010-05-14 | Moving platform steering mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201670261U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105151116A (en) * | 2015-09-25 | 2015-12-16 | 江苏大学 | Pure-rolling and in-situ-steering four-wheel walking device |
| CN106891716A (en) * | 2017-04-17 | 2017-06-27 | 北京农信通科技有限责任公司 | A kind of wheel type mobile structure and the wheeled robot comprising it |
| CN107933738A (en) * | 2017-12-14 | 2018-04-20 | 昆山市工研院智能制造技术有限公司 | A kind of outdoor patrol robot with damping device |
| CN110774504A (en) * | 2019-11-13 | 2020-02-11 | 罗美 | Protective net swinging type plastic soaking device |
-
2010
- 2010-05-14 CN CN2010201922545U patent/CN201670261U/en not_active Expired - Lifetime
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105151116A (en) * | 2015-09-25 | 2015-12-16 | 江苏大学 | Pure-rolling and in-situ-steering four-wheel walking device |
| CN106891716A (en) * | 2017-04-17 | 2017-06-27 | 北京农信通科技有限责任公司 | A kind of wheel type mobile structure and the wheeled robot comprising it |
| CN107933738A (en) * | 2017-12-14 | 2018-04-20 | 昆山市工研院智能制造技术有限公司 | A kind of outdoor patrol robot with damping device |
| CN110774504A (en) * | 2019-11-13 | 2020-02-11 | 罗美 | Protective net swinging type plastic soaking device |
| CN110774504B (en) * | 2019-11-13 | 2021-11-23 | 肥城联谊工程塑料有限公司 | Protective net swinging type plastic soaking device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20101215 Effective date of abandoning: 20120215 |