CN203186409U - Multi-wheel steering vehicle - Google Patents
Multi-wheel steering vehicle Download PDFInfo
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- CN203186409U CN203186409U CN 201320209528 CN201320209528U CN203186409U CN 203186409 U CN203186409 U CN 203186409U CN 201320209528 CN201320209528 CN 201320209528 CN 201320209528 U CN201320209528 U CN 201320209528U CN 203186409 U CN203186409 U CN 203186409U
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Abstract
The utility model discloses a multi-wheel steering vehicle. The multi-wheel steering vehicle comprises a vehicle body and a plurality of wheels used for bearing the vehicle body, wherein at least two wheels are respectively provided with a steering driving mechanism used for driving the corresponding wheel to rotate. The multi-wheel steering vehicle further comprises a steering wheel assembly and a steering controller which is connected with the steering wheel assembly to receive steering orders, wherein the steering driving mechanism is connected with the steering controller to obtain the steering orders. Due to the adoption of the multiple wheels for steering, steering is flexible.
Description
Technical field
The utility model relates to the transit equipment field, relates in particular to a kind of multi-wheel steering vehicle.
Background technology
In mechanical industry, fork truck quantity is many, is widely used, and is the main force of loading and unloading delivery in the factory, and the turning efficiency of fork truck directly influences manoevreability and the alerting ability of fork truck.The tradition fork truck adopt electric-controlled hydraulic power-assisted two-wheeled to turn to more, two-wheeled turn to the manoevreability and the alerting ability that have caused fork-truck steering not high.
Summary of the invention
Technical problem to be solved in the utility model provides a kind of vehicle flexibly that turns to.
For addressing the above problem, the utility model proposes a kind of multi-wheel steering vehicle, comprise vehicle body and carry some wheels of described vehicle body, dispose more than at least two in described some wheels and drive the driver train that turns to that corresponding wheel rotates; Described multi-wheel steering vehicle also comprises steering wheel assembly, is connected to receive the steering controller that turns to indication with this steering wheel assembly, and the described driver train that turns to is connected the acquisition steering order with described steering controller.
Owing to turn to driver train a plurality of wheel being provided with greater than two, thereby its independent steering separately, make the alerting ability of vehicle improve greatly.
Wherein, the described wheel that turns to driver train that disposes also is provided with the angular transducer that detects the corresponding wheel steering angle; This angular transducer is connected with described steering controller realizes controlled reset.Owing to described angular transducer is set and feedback connects, thereby can carry out closed loop control in the situation of monitoring steering angle in real time, to adjustments of rectifying a deviation of the deviation that turns to of wheel, the steering angle of assurance wheel meets the expectation requirement in real time.
Wherein, also comprise traveling controller; Comprise drive wheel in the described wheel, this drive wheel also is provided with the walking driver train that drives its walking and the speed sensor that detects this drive wheel speed, described walking driver train is connected to obtain the walking instruction with described traveling controller, and described speed sensor is connected with described traveling controller realizes controlled reset.Owing to be provided with speed sensor and feedback connects, thereby the speed of travel situation that can monitor each drive wheel in real time carries out closed loop control, in real time to adjustments of rectifying a deviation of the velocity deviation of each drive wheel, guarantees that differential between each wheel is with synchronous.
Wherein, described speed sensor is connected with described steering controller, and this steering controller is connected the controlled reset of realizing speed signal with described traveling controller again.
Wherein, described steering controller adopts the can-bus mode to be connected with described walking control.Described steering wheel assembly comprises bearing circle and connected electronic hand wheel, and this electronic hand wheel is connected with described steering controller.
Wherein, the described wheel shaft place that disposes the wheel that turns to driver train also is provided with the position transduser that detects steering position, and this position transduser is connected with described steering controller realizes controlled reset.Owing to be provided with position transduser and feedback connection, thereby can control the some specific steering position of wheel accurately, the follow-up flexible basic basis that provides of vehicle is provided.
Wherein, the described driver train that turns to comprises servomotor and motor servo driver, and the wheel shaft of described driven by servomotor corresponding wheel, described motor servo driver are connected the acquisition steering order with described steering controller.
Wherein, described walking driver train comprises movable motor, and this movable motor is connected with described traveling controller and is controlled.
Wherein, described walking driver train also comprises magnet stopper, magnetic clutch and swinging reductor.
Wherein, described multi-wheel steering vehicle comprises four wheels, and described four wheels all dispose the driver train that turns to that drives the corresponding wheel rotation.
In the utility model, owing to adopt multi-wheel steering, thereby turn to flexibly.
Description of drawings
Fig. 1 is the structural representation of an embodiment of the present utility model;
Fig. 2 is based on the fork truck view of the 0th operation mode embodiment illustrated in fig. 1;
Fig. 3 is based on the fork truck view of the 1st operation mode embodiment illustrated in fig. 1;
Fig. 4 is based on the fork truck view of the 2nd operation mode embodiment illustrated in fig. 1;
Fig. 5 is based on the fork truck view of the 3rd operation mode embodiment illustrated in fig. 1.
The specific embodiment
With reference to figure 1, illustrate the structural representation of an embodiment of the present utility model.As shown in the figure, comprise vehicle body (not shown), steering controller 1, turn to driver train 11, traveling controller 2, walking driver train 21, position transduser 31, angular transducer 32, speed sensor 33, wheel shaft (not shown), wheel 4(several, for example 4), steering wheel assembly 5.This steering wheel assembly 5 comprises bearing circle and connected electronic hand wheel.
Wherein, wheel 4 has carried described vehicle body etc.; Electronic hand wheel in the described steering wheel assembly 5 is connected with described steering controller 1, user's operation is indicated be passed to described steering controller 1.Described steering controller 1 is connected with the described driver train 11 that turns to, and described operation indication is converted to operating order is sent to the described driver train 11 that turns to; The described driver train 11 that turns to is connected with described wheel 4 by wheel shaft, to carry out described steering order, drives described wheel shaft and rotates, and then drive described wheel 4 rotations.
Described traveling controller 2 is connected with walking assembly (for example throttle, advance, retreat etc.) to obtain the walking that the user sends indicates; Described walking driver train 21 is connected with described traveling controller 2, obtaining the walking instruction of its transmission, and then drives connected wheel 4(and supposes that it is drive wheel) advance or retreat.
Described position transduser 31, angular transducer 32, speed sensor 33 all are arranged at described wheel 4 places.Concrete, described position transduser 31 is arranged at the wheel shaft place of described wheel 4 and is connected with described rotation direction sensor 1, to detect the steering position of described wheel 4, sends the signal that puts in place if turn in place then to described steering controller 1.
Described angular transducer 32 is arranged on described wheel 4 places and is connected with described rotation direction sensor 1, to detect the real-time walking angle of described wheel 4, and this angle signal is sent to described rotation direction sensor 1, this rotation direction sensor 1 carries out the real-time assessment correction according to described angle signal to turning to of wheel 4.Rotation direction sensor 1 will from angular transducer 32 angle signals with compare from the steering angle of steering wheel assembly 5, turn to turning to of driver train 11 to drive signal to adjust to sending to according to both difference.
Described speed sensor 33 is arranged at described wheel 4 places, and wheel 4 is drive wheel herein.Described speed sensor 33 detects the running velocity of described wheel 4 in real time, described steering controller 1 is connected to obtain described running velocity with described speed sensor 33, and this running velocity information is sent to described traveling controller 2, and then traveling controller 2 is controlled described walking driver train 21 according to current running velocity and is adjusted, with synchronously, also guaranteed to satisfy preset running speed with the differential that guarantees each wheel.
Wherein, the described driver train 11 that turns to comprises servomotor and motor servo driver, and the wheel shaft of described driven by servomotor wheel 4, described motor servo driver are connected the acquisition steering order with described steering controller 1.Described walking driver train 21 comprises movable motor, and this movable motor is connected with described traveling controller 2 and controlled, rotates and moves ahead or retreat to drive wheel 4.Described walking driver train 21 also comprises magnet stopper, magnetic clutch and swinging reductor.
Four operation modes to the fork truck in this above-described embodiment describe below, more clearly to understand its scheme.
The 0th operation mode:
As shown in Figure 2, fork truck comprises four wheel A, B, C, D herein, and each wheel is equipped with and turns to driver train, and the bulk rectangular area is illustrated as vehicle body among the figure.In this pattern, the user selects the meta key to send the meta indication to steering controller, and steering controller just begins to patrol and examine, and each sensor passes live signal to steering controller.At this moment, described steering controller turns to driver train to send the meta signal to four, described four turn to the corresponding wheel shaft of driven by servomotor in the driver train to rotate, after the wheel shaft steering reversal puts in place, described position transduser just detects and sends signal to described steering controller, and steering controller is just controlled and stopped to turn to.At this moment, each wheel is in go back to positive position.Operator for convenience can arrange read-out and show and arrive the meta position.
The 1st pattern:
As shown in Figure 3, this moment, the fork truck read-out showed that wheel is in the meta position.The user selects the 1st pattern at this moment, and steering controller begins recall signal, and to turning to driver train to send steering order.In this pattern, A is consistent with turning to of wheel D for steering order control wheel, and wheel B is consistent with turning to of wheel C.With rectangular coordinate system in scheming, in this example, it is 30 degree that the working direction of steering order control wheel A goes to X-axis forward angle, and the working direction of control wheel D and X-axis forward angle are 150 degree, just with X-axis negative direction angle 30 degree; The working direction of steering order control wheel B and the forward angle of X-axis are 150 degree, and just with X-axis negative sense angle 30 degree, the working direction of control wheel C and the forward angle of X-axis are 30 degree.At this moment, described speed sensor, angular transducer send live signal to steering controller, and position transduser detected have turned in place the back and send signal to steering controller and stop to turn to.The live signal of described speed sensor and angular transducer is used for described steering controller and carries out real-time deviation correcting, that is to say to allow wheel keep above-mentioned steering angle in the steering procedure of this pattern always, when deviation, just corrects.The realistic performance of this pattern is, if wheel is working direction at this moment, so whole fork truck is that rotate in the cw original place in this pattern, if retreat, so whole fork truck then is to rotate in the conter clockwise original place.So, this pattern can realize allowing fork truck realize that no-radius turns to.
The 2nd pattern:
As shown in Figure 4, allowing wheel pass through the 0th pattern earlier just returns.At this moment, the user can select this pattern by button, described steering controller begins to receive the deflection vein that sends from electronic hand wheel and dashes, steering controller sent the both positive and negative pulse command after this pulse entered steering controller, what wherein wheel A, B received is the positive pulse instruction, and servomotor just changes; What wheel C, D received is the positive pulse instruction, the servomotor counter-rotating.And the angular dimension that turns to then is to transmit by bearing circle.The realistic meaning of this pattern is that the operator can realize manually controlling any Turning radius control of fork truck.
The 3rd pattern:
As shown in Figure 5, allow wheel just return by the 0th pattern earlier.At this moment, the operator selects this pattern by button, and steering controller begins to receive the pulse of sending from electronic hand wheel, transition controller and then send unified pulse command to four wheels, turning to of four wheels is identical.The realistic meaning of this pattern is, can realize the translation of fork truck, if four identical turning to of wheel are 90 degree, is exactly lateral displacement so.
Be to be example with the fork truck in above-described embodiment, can certainly be applied to other occasion, for example outing vehicle, large-scale toy car, beach buggy etc.Because according to above description, those skilled in the art can know and how to implement at above-mentioned other vehicle, so no longer be described further.
Claims (10)
1. multi-wheel steering vehicle comprises vehicle body and carries some wheels of described vehicle body, it is characterized in that, at least two are disposed and drive the driver trains that turn to that corresponding wheel rotates in described some wheels; Described multi-wheel steering vehicle also comprises steering wheel assembly, is connected to receive the steering controller that turns to indication with this steering wheel assembly, and the described driver train that turns to is connected the acquisition steering order with described steering controller.
2. multi-wheel steering vehicle according to claim 1 is characterized in that, the described wheel that turns to driver train that disposes also is provided with the angular transducer that detects the corresponding wheel steering angle; This angular transducer is connected with described steering controller realizes controlled reset.
3. multi-wheel steering vehicle according to claim 1 is characterized in that, also comprises traveling controller; Comprise drive wheel in the described wheel, this drive wheel also is provided with the walking driver train that drives its walking and the speed sensor that detects this drive wheel speed, described walking driver train is connected to obtain the walking instruction with described traveling controller, and described speed sensor is connected with described traveling controller realizes controlled reset.
4. according to the multi-wheel steering vehicle described in the claim 3, it is characterized in that described speed sensor is connected with described steering controller, this steering controller is connected the controlled reset of realizing speed signal with described traveling controller again.
5. multi-wheel steering vehicle according to claim 4 is characterized in that, described steering wheel assembly comprises bearing circle and connected electronic hand wheel, and this electronic hand wheel is connected with described steering controller.
6. multi-wheel steering vehicle according to claim 1, it is characterized in that, the described wheel shaft place that disposes the wheel that turns to driver train also is provided with the position transduser that detects steering position, and this position transduser is connected with described steering controller realizes controlled reset.
7. according to each described multi-wheel steering vehicle in the claim 1 to 6, it is characterized in that, the described driver train that turns to comprises servomotor and motor servo driver, the wheel shaft of described driven by servomotor corresponding wheel, described motor servo driver are connected the acquisition steering order with described steering controller.
8. according to each described multi-wheel steering vehicle in the claim 3 to 5, it is characterized in that described walking driver train comprises movable motor, this movable motor is connected with described traveling controller and is controlled.
9. multi-wheel steering vehicle according to claim 8 is characterized in that, described walking driver train also comprises magnet stopper, magnetic clutch and swinging reductor.
10. according to each described multi-wheel steering vehicle in the claim 1 to 6, it is characterized in that described multi-wheel steering vehicle comprises four wheels, described four wheels all dispose the driver train that turns to that drives the corresponding wheel rotation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320209528 CN203186409U (en) | 2013-04-23 | 2013-04-23 | Multi-wheel steering vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320209528 CN203186409U (en) | 2013-04-23 | 2013-04-23 | Multi-wheel steering vehicle |
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| CN203186409U true CN203186409U (en) | 2013-09-11 |
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| CN 201320209528 Expired - Lifetime CN203186409U (en) | 2013-04-23 | 2013-04-23 | Multi-wheel steering vehicle |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105375558A (en) * | 2015-10-28 | 2016-03-02 | 小米科技有限责任公司 | Charging method and device for electric power-assisted vehicle |
| CN106143263A (en) * | 2016-08-30 | 2016-11-23 | 北京华力兴科技发展有限责任公司 | Driving control system and container and/or vehicle inspection carry car |
| CN106406321A (en) * | 2016-11-30 | 2017-02-15 | 广西壮族自治区都安瑶族自治县科学技术情报研究所 | Automatic driving control system for agricultural tractor |
| CN106915385A (en) * | 2017-03-02 | 2017-07-04 | 同济大学 | A kind of line traffic control differential steering system and method for distributed-driving electric automobile |
| CN107776665A (en) * | 2017-09-14 | 2018-03-09 | 郑州新大方重工科技有限公司 | A kind of implementation method of vehicle independent steering system |
| CN107826164A (en) * | 2017-11-01 | 2018-03-23 | 中国北方车辆研究所 | A kind of multi-wheel steering system and control method based on electric power-assisted |
| CN110789604A (en) * | 2019-10-16 | 2020-02-14 | 合肥搬易通科技发展有限公司 | Motor steering-based double-drive full-forward-movement forklift steering control method and forklift |
| EP3632802A1 (en) * | 2018-10-05 | 2020-04-08 | MULAG FAHRZEUGWERK Heinz Wössner GmbH & CO. KG | Baggage conveyor and method for its operation |
-
2013
- 2013-04-23 CN CN 201320209528 patent/CN203186409U/en not_active Expired - Lifetime
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105375558A (en) * | 2015-10-28 | 2016-03-02 | 小米科技有限责任公司 | Charging method and device for electric power-assisted vehicle |
| CN105375558B (en) * | 2015-10-28 | 2018-11-23 | 小米科技有限责任公司 | The charging method and device of Moped Scooter |
| CN106143263A (en) * | 2016-08-30 | 2016-11-23 | 北京华力兴科技发展有限责任公司 | Driving control system and container and/or vehicle inspection carry car |
| CN106143263B (en) * | 2016-08-30 | 2019-11-22 | 北京华力兴科技发展有限责任公司 | Driving control system and container and/or vehicle inspection carrier vehicle |
| CN106406321A (en) * | 2016-11-30 | 2017-02-15 | 广西壮族自治区都安瑶族自治县科学技术情报研究所 | Automatic driving control system for agricultural tractor |
| CN106915385A (en) * | 2017-03-02 | 2017-07-04 | 同济大学 | A kind of line traffic control differential steering system and method for distributed-driving electric automobile |
| CN107776665A (en) * | 2017-09-14 | 2018-03-09 | 郑州新大方重工科技有限公司 | A kind of implementation method of vehicle independent steering system |
| CN107826164A (en) * | 2017-11-01 | 2018-03-23 | 中国北方车辆研究所 | A kind of multi-wheel steering system and control method based on electric power-assisted |
| CN107826164B (en) * | 2017-11-01 | 2023-11-10 | 中国北方车辆研究所 | Multi-wheel steering system based on electric assistance and control method |
| EP3632802A1 (en) * | 2018-10-05 | 2020-04-08 | MULAG FAHRZEUGWERK Heinz Wössner GmbH & CO. KG | Baggage conveyor and method for its operation |
| CN110789604A (en) * | 2019-10-16 | 2020-02-14 | 合肥搬易通科技发展有限公司 | Motor steering-based double-drive full-forward-movement forklift steering control method and forklift |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C56 | Change in the name or address of the patentee |
Owner name: CATERPILLAR (ZHENGZHOU) CO., LTD. Free format text: FORMER NAME: ZHENGZHOU SIWEI ELECTROMECHANICAL EQUIPMENT MANUFACTURING CO., LTD. |
|
| CP03 | Change of name, title or address |
Address after: Xingyang City, Henan Province, Wu Zhen Guang road 450103 Patentee after: CATERPILLAR (ZHENGZHOU) Co.,Ltd. Address before: 450001 No. 7 shuttle Road, Zhengzhou hi tech Development Zone, Henan, China Patentee before: Zhengzhou Siwei Electromechanical Equipment Manufacturing Co.,Ltd. |
|
| CX01 | Expiry of patent term |
Granted publication date: 20130911 |
|
| CX01 | Expiry of patent term |