CN203790580U - Steering control device of model electric trolley - Google Patents
Steering control device of model electric trolley Download PDFInfo
- Publication number
- CN203790580U CN203790580U CN201420161932.XU CN201420161932U CN203790580U CN 203790580 U CN203790580 U CN 203790580U CN 201420161932 U CN201420161932 U CN 201420161932U CN 203790580 U CN203790580 U CN 203790580U
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- China
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- servomotor
- steering
- swing component
- chip microcomputer
- transmission device
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Abstract
A steering control device of a model electric trolley comprises a trolley frame, a servo motor, a center returning torsion spring, a swinging member and a transmission device. One end of the center returning torsion spring is connected with the trolley frame while the other end of the same acts on the swinging member, an output shaft of the servo motor is connected with the swinging member through the transmission device, a control circuit is connected on a control end of the servo motor and comprises a first single chip microcomputer, and a second single chip microcomputer is arranged in a remote control unit. The second single chip is utilized to receive direction signals and steering angle signals of an input shaft of a potentiometer or a coder, a wireless communication link is utilized to transmit a direction value and a steering angle value of the input shaft related to the second single chip microcomputer to the first single chip microcomputer, the first single chip microcomputer controls the servo motor by means of pulse width modulation, and the servo motor enables wheels to be skewed at an angle in a proportional relation with a received steering angle through the transmission device and the swinging member, so that steering of the model electric trolley at any angle within a range from 0 to 90 degrees is realized.
Description
Technical field:
The utility model relates to electricity field, relates in particular to model motor-driven carrier, particularly a kind of steering control device of model motor-driven carrier.
Background technology:
In prior art, model motor-driven carrier turns to by the angle realization that changes a pair of front-wheel.The bearing of a pair of front-wheel is arranged on vehicle frame by back shaft respectively, bearing is connected with a connecting rod separately, one end of two connecting rods is connected on a swing component jointly, on swing component, be provided with Linear rack, Linear rack engages with a gear, the power turning to is provided by a servomotor, the output shaft of servomotor is connected with gear by transmission device, in vehicle frame, be provided with one and return middle torsion spring, in returning, swing component is remained on centre position by torsion spring, the Plane of rotation of two front-wheels and the length direction of vehicle frame are parallel, and front-wheel is in craspedodrome state.Need to turn to time, send steering order by controller to servomotor, steering order only includes steering direction, i.e. the rotation direction of servomotor, and therefore, in any steering procedure, servomotor is all by the push-jump front-wheel steering locking angle degree that arrives.Therefore, model motor-driven carrier cannot turn to by the steering angle of operating personnel's input, and steering procedure is unsmooth.
Summary of the invention:
The purpose of this utility model is to provide a kind of steering control device of model motor-driven carrier, and the steering control device of described this model motor-driven carrier will solve that model motor-driven carrier in prior art cannot turn to by the steering angle of operating personnel's input, the rough technical problem of steering procedure.
The steering control device of this model motor-driven carrier of the present utility model comprises vehicle frame, servomotor, torsion spring in returning, swing component and transmission device, described servomotor is fixedly installed in described vehicle frame, described swing component is arranged in vehicle frame by a sliding pair, described one end of returning middle torsion spring is connected with vehicle frame, in returning, the other end of torsion spring acts on swing component, the output shaft of servomotor is connected with swing component by described transmission device, servomotor comprises control end, on the control end of servomotor, be connected with a control circuit, wherein, in described control circuit, include first single-chip microcomputer, the first described single-chip microcomputer includes a turn signal input and a pulse width modulating signal output, described pulse width modulating signal output is connected with the control end of servomotor by wire.
Further, described turn signal input is connected with first wireless communication module.
Further, the first described wireless communication module is connected with second wireless communication module being arranged in remote controller by radio communication chain circuit, in described remote controller, be provided with a remote control circuit, in described remote control circuit, include a second singlechip, described second singlechip includes input and an output, described output is connected with the second described wireless communication module, described input is connected with a potentiometer or encoder, on described potentiometer or the power shaft of encoder, is provided with knob.
Further, described transmission device comprises the driving gear being fixedly installed on servomotor output shaft, described driving gear engages with a transition gear, described transition gear be arranged on swing component on tooth-shape structure engage, on swing component, be hinged with two wheel steering connecting rods.
Operation principle of the present utility model is: two wheel steering connecting rods are connected with two wheels respectively.Operator by rotating the power shaft of potentiometer or encoder, inputs needed steering direction and steering angle on remote controller, and the rotational angle of power shaft and needed steering angle are linearly proportional.The first single-chip microcomputer receives after the control signal that remote control circuit transmits, control the rotation direction of servomotor output shaft, and with the velocity of rotation of pulse width modulation control servomotor output shaft, the first single-chip microcomputer is according to the steering angle of receiving, control outputs to the dutycycle of the voltage of servomotor, thereby control the velocity of rotation of servomotor output shaft, by transmission device and swing component, wheel is biased in the angle with the proportional relation of steering angle of receiving to implementation model motor-driven carrier turning at any angle within the scope of 0～90 degree.When the rotational angle of power shaft reduces, under the effect of swing component torsion spring in returning, reduce offset amplitude, thereby reduce steering angle of wheel.When power shaft is got back to centre position, the velocity of rotation of servomotor output shaft is zero, under the effect of swing component torsion spring in returning, gets back to centre position, and wheel recovers to keep straight on.
The utility model and prior art are compared, and its effect is actively with obvious.The utility model utilizes the first single-chip microcomputer with pulse width modulation control servomotor, utilize second singlechip to receive direction signal and the rotational angle signal of the power shaft of potentiometer or encoder, utilize radio communication chain circuit that second singlechip is delivered to the first single-chip microcomputer about direction value and the rotational angle value of power shaft, servomotor is biased in wheel in the angle with the proportional relation of steering angle of receiving by transmission device and swing component, has realized model motor-driven carrier turning at any angle within the scope of 0～90 degree.
Brief description of the drawings:
Fig. 1 is that the steering control device of model motor-driven carrier of the present utility model is arranged on the schematic diagram on model motor-driven carrier.
Fig. 2 is the side schematic view of the transmission device in the steering control device of model motor-driven carrier of the present utility model.
Fig. 3 is the schematic top plan view of the transmission device in the steering control device of model motor-driven carrier of the present utility model.
Fig. 4 is the operation principle schematic diagram of the steering control device of model motor-driven carrier of the present utility model.
Fig. 5 is the schematic diagram of the control circuit in the embodiment of steering control device of model motor-driven carrier of the present utility model.
Fig. 6 is the schematic diagram of the remote control circuit in the embodiment of steering control device of model motor-driven carrier of the present utility model.
Detailed description of the invention:
Embodiment 1:
As Fig. 1, Fig. 2, shown in Fig. 3 and Fig. 4, the steering control device of model motor-driven carrier of the present utility model, comprise vehicle frame 1, servomotor 2, torsion spring 3 in returning, swing component 4 and transmission device 5, described servomotor 2 is fixedly installed in described vehicle frame 1, described swing component 4 is arranged in vehicle frame 1 by a sliding pair, described one end of returning middle torsion spring 3 is connected with vehicle frame 1, in returning, the other end of torsion spring 3 acts on swing component 4, the output shaft of servomotor 2 is connected with swing component 4 by described transmission device 5, servomotor 2 comprises control end, on the control end of servomotor 2, be connected with a control circuit 6, wherein, in described control circuit 6, include first single-chip microcomputer 7, the first described single-chip microcomputer 7 includes a turn signal input and a pulse width modulating signal output, described pulse width modulating signal output is connected with the control end of servomotor 2 by wire, utilize the turn signal input input redirect signal of an input unit to the first single-chip microcomputer 7, the first single-chip microcomputer 7 is according to the rotation direction of described turn signal control servomotor 2 output shafts, and with the velocity of rotation of pulse width modulation control servomotor 2 output shafts, described turn signal comprises steering direction value and steering angle value.
Further, described steering direction value is for left or to the right, or for just or negative, steering direction value respectively corresponding servomotor 2 output shafts dextrorotation veer and be rotated counterclockwise direction.
Further, the absolute value of the steering angle in turn signal is directly proportional to the absolute value of the velocity of rotation of servomotor 2 output shafts.
Further, described turn signal input is connected with first wireless communication module 8.
Further, the first described wireless communication module 8 is connected with second wireless communication module 10 being arranged in remote controller 9 by radio communication chain circuit, in described remote controller 9, be provided with a remote control circuit 11, in described remote control circuit 11, include a second singlechip 12, described second singlechip 12 includes input and an output, described output is connected with the second described wireless communication module 10, described input is connected with a potentiometer or encoder 13, on the power shaft of described potentiometer or encoder 13, be provided with knob.
Further, the power shaft of described potentiometer or encoder 13 has a rotation angle range, power shaft rests on the centre position of described rotation angle range, direction value and the rotation angle value of power shaft rotation are delivered to the first wireless communication module 8 by second singlechip 12 and the second wireless communication module 10, convert the steering direction value and the steering angle value that drive servomotor 2 by the first single-chip microcomputer 7 after being read to.
Further, described transmission device 5 comprises the driving gear 51 being fixedly installed on servomotor 2 output shafts, described driving gear 51 engages with a transition gear 52, described transition gear 52 be arranged on swing component 4 on tooth-shape structure engage, on swing component 4, be hinged with two wheel steering connecting rods 15.
The operation principle of the present embodiment is: two wheel steering connecting rods 15 are connected with two wheels 14 respectively.Operator by rotating the power shaft of potentiometer or encoder 13, inputs needed steering direction and steering angle on remote controller 9, and the rotational angle of power shaft and needed steering angle are linearly proportional.The first single-chip microcomputer 7 receives after the control signal that remote control circuit 11 transmits, drive servomotor 2 to rotate clockwise direction or be rotated counterclockwise direction according to the rotation direction of power shaft and rotate, turn left or turn right thereby promote wheel by transmission device 5 and swing component 4.The first single-chip microcomputer 7 is according to the steering angle of receiving, control outputs to the dutycycle of the voltage of servomotor 2, thereby control the velocity of rotation of servomotor 2 output shafts, by transmission device 5 and swing component 4, wheel 14 is biased in the angle with the proportional relation of steering angle of receiving to implementation model motor-driven carrier turning at any angle within the scope of 0～90 degree.When the rotational angle of power shaft reduces, under the effect of swing component 4 torsion spring 3 in returning, reduce offset amplitude, thereby reduce wheel 14 steering angles.When power shaft is got back to centre position, the velocity of rotation of servomotor 2 output shafts is zero, under the effect of swing component 4 torsion spring 3 in returning, gets back to centre position, and wheel 14 recovers to keep straight on.
Concrete, Fig. 5 and Fig. 6 have represented respectively the principle of control circuit and remote control circuit.Each element model and parameter in Fig. 5 and Fig. 6, any restriction only for meeting fully open, the object that those skilled in the art can realize the requirement of the technical solution of the utility model of patent statute, instead of to claim of the present utility model.
Claims (4)
1. the steering control device of a model motor-driven carrier, comprise vehicle frame, servomotor, torsion spring in returning, swing component and transmission device, described servomotor is fixedly installed in described vehicle frame, described swing component is arranged in vehicle frame by a sliding pair, described one end of returning middle torsion spring is connected with vehicle frame, in returning, the other end of torsion spring acts on swing component, the output shaft of servomotor is connected with swing component by described transmission device, servomotor comprises control end, on the control end of servomotor, be connected with a control circuit, it is characterized in that: in described control circuit, include first single-chip microcomputer, the first described single-chip microcomputer includes a turn signal input and a pulse width modulating signal output, described pulse width modulating signal output is connected with the control end of servomotor by wire.
2. the steering control device of model motor-driven carrier as claimed in claim 1, is characterized in that: described turn signal input is connected with first wireless communication module.
3. the steering control device of model motor-driven carrier as claimed in claim 2, it is characterized in that: the first described wireless communication module is connected with second wireless communication module being arranged in remote controller by radio communication chain circuit, in described remote controller, be provided with a remote control circuit, in described remote control circuit, include a second singlechip, described second singlechip includes input and an output, described output is connected with the second described wireless communication module, described input is connected with a potentiometer or encoder, on described potentiometer or the power shaft of encoder, be provided with knob.
4. the steering control device of model motor-driven carrier as claimed in claim 1, it is characterized in that: described transmission device comprises the driving gear being fixedly installed on servomotor output shaft, described driving gear engages with a transition gear, described transition gear be arranged on swing component on tooth-shape structure engage, on swing component, be hinged with two wheel steering connecting rods.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420161932.XU CN203790580U (en) | 2013-12-31 | 2014-04-03 | Steering control device of model electric trolley |
Applications Claiming Priority (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310751314.0 | 2013-12-31 | ||
| CN201310751314 | 2013-12-31 | ||
| CN201320890204 | 2013-12-31 | ||
| CN201320890204.8 | 2013-12-31 | ||
| CN201420161932.XU CN203790580U (en) | 2013-12-31 | 2014-04-03 | Steering control device of model electric trolley |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203790580U true CN203790580U (en) | 2014-08-27 |
Family
ID=51181778
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410134310.2A Pending CN103933740A (en) | 2013-12-31 | 2014-04-03 | Steering control system of model electric cart |
| CN201420161932.XU Expired - Fee Related CN203790580U (en) | 2013-12-31 | 2014-04-03 | Steering control device of model electric trolley |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410134310.2A Pending CN103933740A (en) | 2013-12-31 | 2014-04-03 | Steering control system of model electric cart |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN103933740A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20210067829A (en) * | 2019-11-29 | 2021-06-08 | 최낙준 | Remote control kit car |
-
2014
- 2014-04-03 CN CN201410134310.2A patent/CN103933740A/en active Pending
- 2014-04-03 CN CN201420161932.XU patent/CN203790580U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20210067829A (en) * | 2019-11-29 | 2021-06-08 | 최낙준 | Remote control kit car |
| KR102379343B1 (en) * | 2019-11-29 | 2022-03-28 | 최낙준 | Remote control kit car |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103933740A (en) | 2014-07-23 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140827 |