CN213384440U

CN213384440U - Double-wheel linkage mechanism

Info

Publication number: CN213384440U
Application number: CN202022362331.3U
Authority: CN
Inventors: 杨杰; 黄维
Original assignee: Shenzhen Haohao Intelligent Technology Co ltd
Current assignee: Shenzhen Haohao Intelligent Technology Co ltd
Priority date: 2020-09-17
Filing date: 2020-10-21
Publication date: 2021-06-08
Anticipated expiration: 2030-10-21

Abstract

The application relates to a double-wheel linkage mechanism, which comprises a steering mechanism and a swinging mechanism, wherein the steering mechanism comprises a first steering piece; a second steering member; the swing mechanism comprises a first swing piece; a second swinging member; a third oscillating member; a fourth oscillating member; the connecting lines of the rotating positions of the third swinging piece and the fourth swinging piece and the first swinging piece deviate from the first axis; the connecting lines of the rotating positions of the third swinging piece and the fourth swinging piece and the second swinging piece deviate from a second axis; and one end of the third steering piece is rotatably connected to the first steering piece, and the other end of the third steering piece is rotatably connected to the second steering piece. This application makes first walking wheel and second walking wheel reduce through swing mechanism when the slope with the contained angle between the position of ground contact to the rolling distance of walking wheel that the reduction is located the turning radius outside promotes the flexibility that turns to.

Description

Double-wheel linkage mechanism

Technical Field

The application relates to the technical field of vehicle accessories, in particular to a double-wheel linkage mechanism.

Background

At present, in the steering process of a multi-wheel steering vehicle, two walking wheels can be steered at the same time, and the two walking wheels can incline towards the deflection direction in the steering process, so that the vehicle body inclines towards the deflection direction to reduce the side turning of the vehicle body.

For the related technology, the inventor thinks that the distance between two walking wheels is still the same when two walking wheels turn to, need make the walking wheel that is located outside turning radius move bigger distance when turning to this moment, and move bigger distance and need do more work to the steering process that leads to the walking wheel is comparatively troublesome.

Therefore, a new technical solution is needed to solve the above problems.

SUMMERY OF THE UTILITY MODEL

In order to make the vehicle in the in-process of turning, the rotation process of walking wheel is more nimble, this application provides a double round link gear.

The application provides a double round link gear adopts following technical scheme:

a double-wheel linkage mechanism comprises a steering mechanism and a swinging mechanism, wherein the steering mechanism comprises,

the first steering piece drives the first travelling wheel to steer along a first axis, and the rotating axis of the first travelling wheel is perpendicular to the first axis;

the second steering piece drives the second walking wheels to steer along a second axis, and the rotating axis of the second walking wheels is vertical to the second axis;

and one end of the third steering piece is rotatably connected to the first steering piece, and the other end of the third steering piece is rotatably connected to the second steering piece.

The swing mechanism comprises a swing arm and a swing arm,

the first swinging piece drives the first travelling wheel to incline so as to enable the plane where the first travelling wheel is located to form an acute angle or an obtuse angle relative to the horizontal plane;

the second swinging piece drives the second walking wheels to incline so that the plane where the second walking wheels are located forms an acute angle or an obtuse angle relative to the horizontal plane;

one end of the third swinging piece is rotatably connected to the first swinging piece, and the other end of the third swinging piece is rotatably connected to the second swinging piece;

one end of the fourth swinging piece is rotatably connected to the first swinging piece, and the other end of the fourth swinging piece is rotatably connected to the second swinging piece;

the connecting lines of the rotating positions of the third swinging piece and the fourth swinging piece and the first swinging piece deviate from the first axis;

the connecting lines of the rotating positions of the third swinging piece and the fourth swinging piece and the second swinging piece are deviated from the second axis.

By adopting the technical scheme, in the process that the swing mechanism drives the first travelling wheel and the second travelling wheel to incline, the distance between the positions of the first travelling wheel and the second travelling wheel contacted with the ground is reduced, so that the moving distance of the travelling wheel positioned outside the rotating radius is reduced, and the rotating process of the first travelling wheel and the second travelling wheel is more convenient and flexible.

Optionally: the linkage mechanism further comprises a driving mechanism, the driving mechanism comprises,

the first driving piece is positioned between the first steering piece and the second steering piece and rotates along a third axis;

one end of the second driving piece is rotationally connected with the third steering piece, and the other end of the second driving piece is driven by the first driving piece to rotate around a third axis;

the sleeve is rotatably sleeved outside the first driving piece;

the middle parts of the third swinging piece and the fourth swinging piece are rotatably connected to the sleeve.

By adopting the technical scheme, the driving mechanism is utilized to drive the third steering piece to move, so that the steering of the first walking wheel and the second walking wheel is realized.

Optionally: the first walking wheel is rotationally connected to the first steering member, the connecting position of the first walking wheel and the first steering member deviates from a first axis, the second walking wheel is rotationally connected to the second steering member, and the connecting position of the second steering member and the second walking wheel deviates from a second axis.

By adopting the technical scheme, in the process of steering the first travelling wheel and the second travelling wheel, the first travelling wheel and the second travelling wheel can rotate along the axis of the first travelling wheel and the second travelling wheel, so that the first travelling wheel and the second travelling wheel are more convenient to steer.

Optionally: the third swinging member comprises a first swinging member having a first swinging axis,

one end of the first swinging rod is rotatably connected to the first steering piece, and the other end of the first swinging rod is rotatably connected with the sleeve;

one end of the second swinging rod is rotatably connected to the second steering piece, and the other end of the second swinging rod is rotatably connected with the sleeve;

the fourth oscillating member comprises a first oscillating member and a second oscillating member,

one end of the third swinging rod is rotatably connected to the first steering piece, and the other end of the third swinging rod is rotatably connected with the sleeve;

one end of the fourth swinging rod is rotatably connected to the second steering piece, and the other end of the fourth swinging rod is rotatably connected with the sleeve;

the rotation axes of the first swinging rod, the second swinging rod, the third swinging rod, the fourth swinging rod and the sleeve are all in the same vertical plane with the third axis;

the swing mechanism is connected with an elastic piece for limiting the upward rotation of the first steering piece and the second steering piece, one end of the elastic piece is rotatably connected with the first swing rod or the third swing rod, and the other end of the elastic piece is rotatably connected with the second swing rod or the fourth swing rod.

Through adopting above-mentioned technical scheme, make and produce relative rotation between first swinging arms and the second swinging arms, another walking wheel is difficult for producing the removal at the in-process that a walking wheel upwards moved this moment to the going of messenger's vehicle is more stable.

Optionally: the third direction-changing member may include,

one end of the first supporting rod is rotatably connected to the second driving piece, and the other end of the first supporting rod is rotatably connected to the first steering piece;

and one end of the second supporting rod is rotatably connected to the second driving piece, and the other end of the second supporting rod is rotatably connected to the second steering piece.

By adopting the technical scheme, the rotating angles of the first walking wheel and the second walking wheel are fixed when the first walking wheel and the second walking wheel are steered, so that the included angle of the first walking wheel and the second walking wheel facing the driving direction of the vehicle is reduced, the driving speed of the vehicle is reduced, the vehicle is decelerated in the steering process, and the driving stability of the vehicle is improved.

Optionally: the third steering piece is connected with the first steering piece through a first rotating mechanism; the third steering piece is connected with the second steering piece through a second rotating mechanism;

the first rotating mechanism comprises a first rotating mechanism and a second rotating mechanism,

the first vertical rotating part is vertically and rotatably connected with the first steering part;

the first horizontal rotating part is vertically fixed on the first vertical rotating part and is rotationally connected with the third steering part;

the second rotating mechanism comprises a first rotating mechanism and a second rotating mechanism,

the second vertical rotating part is vertically and rotatably connected to the second steering part;

and the second horizontal rotating part is vertically fixed on the second vertical rotating part and is rotationally connected to the third steering part.

By adopting the technical scheme, the first rotating mechanism and the second rotating mechanism are utilized to connect the third steering piece with the first steering piece and the second steering piece respectively, so that the joint of the two ends of the third steering piece is not easily affected;

the first supporting rod and the second supporting rod are respectively connected with the second driving piece through a third rotating mechanism, the third rotating mechanism comprises,

the third vertical rotating part is vertically and rotatably connected to the second driving part;

and the third horizontal rotating part is vertically fixed on the third vertical rotating part and is rotationally connected to the first supporting rod or the second supporting rod.

Optionally: the sleeve rotates and is connected with a connecting piece which connects the first swinging piece with the second swinging piece, one end of the connecting piece rotates and is connected with the first swinging piece, the other end of the connecting piece rotates and is connected with the second swinging piece, and the connecting piece is positioned on one side of the sleeve, which is far away from the swinging mechanism.

Through adopting above-mentioned technical scheme, increase the joint strength between sleeve and the swing mechanism to increase the stability in the vehicle use.

Optionally: the bolt is all worn to be equipped with in the rotation department of connecting piece, third swing piece and fourth swing piece, the equal threaded connection of bolt has the nut, the slot bearing has all been cup jointed to the bolt, the outer lane of slot bearing respectively with connecting piece, third swing piece or fourth swing piece butt, the bolt has all been cup jointed two to locking plane bearing, be located the both sides of slot bearing respectively to locking plane bearing, the terminal surface that is close to the slot bearing to locking plane bearing respectively with the terminal surface butt of connecting piece, third swing piece or fourth swing piece.

Through adopting above-mentioned technical scheme, utilize the slot bearing and to lock the plane bearing and make difficult emergence relative rotation between bolt and the nut to make connecting piece and reinforcement difficult production drop at the rotation in-process, make link gear's use more stable.

Optionally: the third steering member is positioned on one side of the third axis close to the driving direction of the vehicle;

the connecting line between the first steering piece and the rotating axis of the first support rod to the first axis and the included angle formed by the first steering piece and the first support rod and facing the third axis are first included angles;

a connecting line between the second steering piece and the rotating axis of the second support rod to the second axis, and an included angle formed by the second steering piece and the second support rod and facing to the third axis is a second included angle;

the connecting line from the first axis to the first support rod and the rotating axis of the first steering piece forms a third included angle with the connecting line from the first axis to the third axis;

a connecting line from the second axis to the second support rod and a rotating axis of the second steering piece forms a fourth included angle with a connecting line from the second axis to the third axis;

when the first axis, the second axis and the third axis are in a vertical state, vertical connecting lines of the first axis and the second axis are perpendicular to the third axis and the second driving piece;

the first included angle is equal to the second included angle;

the third included angle is equal to the fourth included angle;

when first walking wheel and second walking wheel are in the tilt state, the distance of the axis of rotation of first branch and first steering piece to the axis of rotation of second branch and second steering piece subtracts, and the difference of the interval between first axis and the second axis is greater than, and when first walking wheel and second walking wheel were in vertical state, the distance of the axis of rotation of first branch and first steering piece to the axis of rotation of second branch and second steering piece subtracted, the difference of the interval between first axis and the second axis.

By adopting the technical scheme, the ratio between the sizes is limited, so that the rotating angle of the walking wheels positioned on the inner side of the steering radius is smaller in the process of inclining and rotating the first walking wheel and the second walking wheel, the first walking wheel and the second walking wheel point to the correct running direction respectively, the ground grabbing force of the first walking wheel and the second walking wheel on the ground is increased, and the vehicle turning process is more stable.

Optionally: the third steering member is located on a side of the third axis facing away from the direction of travel of the vehicle;

a connecting line between the first steering piece and the rotating axis of the first support rod to the first axis, and an included angle formed by the first steering piece and the first support rod and facing the third axis is a fifth included angle;

a connecting line between the second steering piece and the rotating axis of the second support rod to the second axis, and an included angle formed by the second steering piece and the second support rod and facing the third axis is a sixth included angle;

an included angle formed by a connecting line from the first axis to the first support rod and a rotating axis of the first steering piece and a connecting line from the first axis to the third axis is a seventh included angle;

an included angle formed by a connecting line from the second axis to the second support rod and a rotating axis of the second steering piece and a connecting line from the second axis to the third axis is an eighth included angle;

the fifth included angle is equal to the sixth included angle;

the seventh included angle is equal to the eighth included angle;

when first walking wheel and second walking wheel are in the tilt state, the distance of the axis of rotation of first branch and first steering piece to the axis of rotation of second branch and second steering piece subtracts, and the difference of the interval between first axis and the second axis is less than, and when first walking wheel and second walking wheel were in vertical state, the distance of the axis of rotation of first branch and first steering piece to the axis of rotation of second branch and second steering piece subtracted, the difference of the interval between first axis and the second axis.

By adopting the technical scheme, when the third steering piece is positioned at the position, far away from the driving direction of the vehicle, of the sleeve, the third steering piece can still drive the first walking wheel and the second walking wheel to rotate, the deflection angle of the walking wheel positioned on the inner side of the steering radius is larger, the first walking wheel and the second walking wheel face the driving direction of the vehicle, the ground grabbing force of the first walking wheel and the second walking wheel is increased, and the driving stability of the vehicle is improved.

In summary, the present application includes at least one of the following beneficial technical effects:

1. the distance between the positions, which are contacted with the ground when the first walking wheel and the second walking wheel incline, is reduced through the swing mechanism, so that the rolling distance of the walking wheels positioned on the outer side of the turning radius is reduced, and the steering flexibility is improved;

2. when the third steering piece drives the two steering pieces to steer, the turning angles of the first walking wheel and the second walking wheel are different, and the turning angle of the walking wheel on the inner side of the turning radius is larger, so that the first walking wheel and the second walking wheel face the driving direction of the vehicle, the ground grabbing force of the first walking wheel and the second walking wheel is increased, and the stability of the vehicle during turning is improved.

Drawings

Fig. 1 is a schematic view for showing a swing mechanism in embodiment 1 of the present application;

fig. 2 is a schematic view for showing a connection position of a driving mechanism and a steering mechanism in embodiment 1 of the present application;

fig. 3 is a schematic view for showing a first rotating mechanism and a second rotating mechanism in embodiment 1 of the present application;

FIG. 4 is a schematic view of the structure of the connection part, the third swinging member and the fourth swinging member in the embodiment 1 of the present application;

fig. 5 is a schematic view for showing the third axis and the first and second axes in the same vertical plane in embodiment 2 of the present application.

Fig. 6 is a schematic view for showing that the third axis is located on one side of the connecting line of the first axis and the second axis close to the vehicle traveling direction according to embodiment 3 of the present application;

fig. 7 is a schematic view for showing a structure in which the third steering member is located on a side of the sleeve close to the vehicle, and the third axis is located on a side of the swing mechanism facing away from the traveling direction of the vehicle, according to embodiment 4 of the present application;

FIG. 8 is a schematic structural view of embodiment 5 of the present application, showing that the third steering member is located on a side of the sleeve close to the vehicle, and the third axis is in the same vertical plane as the first axis and the second axis;

fig. 9 is a schematic view for showing a structure of a fourth rotating mechanism in embodiment 5 of the present application;

fig. 10 is a schematic structural view of embodiment 6 of the present application, showing that the third steering member is located on the side of the sleeve close to the vehicle, and the third axis is located on the side of the swing mechanism that affects the traveling direction of the vehicle;

fig. 11 is a schematic view for showing a structure of a swing mechanism in embodiment 7 of the present application;

FIG. 12 is a schematic view showing the connection positions of the first and second swing levers and the sleeve according to embodiment 8 of the present application.

In the figure, 1, a steering mechanism; 11. a first steering member; 12. a second steering member; 13. a first axis; 14. a second axis; 15. a third steering member; 151. a first support bar; 152. a second support bar; 152. a waist-shaped groove; 2. a swing mechanism; 21. a first swinging member; 211. a first portion; 212. a second portion; 22. a second swinging member; 221. a third portion; 222. a fourth part; 23. a third oscillating member; 231. a first swing lever; 232. a second swing lever; 24. a fourth oscillating member; 241. a third swing lever; 242. a fourth swing lever; 25. a bolt; 26. a nut; 27. a groove bearing; 28. locking the plane bearing; 29. an elastic member; 3. a first running wheel; 4. a second road wheel; 5. a drive mechanism; 51. a first driving member; 52. a second driving member; 53. a sleeve; 54. a connecting member; 56. a third axis; 6. a first rotating mechanism; 61. a first vertical rotating member; 62. a first horizontal rotation member; 7. a second rotating mechanism; 71. a second vertical rotating member; 72. a second horizontal rotation member; 8. a third rotating mechanism; 81. a third vertical rotating member; 82. a third horizontal rotation member; 9. a fourth rotating mechanism; 91. a fourth vertical rotating member; 92. a fourth horizontal rotation member.

Detailed Description

The present application is described in further detail below with reference to the attached drawings.

A double-wheel linkage mechanism adjusts the rotation angle and the inclination angle of a steering wheel in the steering process of a vehicle, so that the steering process of the vehicle is more stable.

Example 1: as shown in fig. 1, the steering mechanism 1 includes a steering mechanism 1 for guiding the travelling wheels to steer and a swinging mechanism 2 for tilting the travelling wheels relative to the ground, the steering mechanism 1 includes a first steering member 11 for driving a first travelling wheel 3 to steer along a first axis 13 and a second steering member 12 for driving a second travelling wheel 4 to steer along a second axis 14, the first travelling wheel 3 is rotatably connected to the first steering member 11, the rotation axis of the first travelling wheel 3 is perpendicular to the first axis 13, the second travelling wheel 4 is rotatably connected to the second steering member 12, and the rotation axis of the second travelling wheel 4 is perpendicular to the second axis 14.

As shown in fig. 2, the swing mechanism 2 includes a first swing member 21 for deflecting the first steering member 11, a second swing member 22 for tilting the second steering member 12, a third swing member 23, and a fourth swing member 24. The first swinging member 21 includes a first portion 211 and two second portions 212 integrally formed on the side wall of the first portion 211, the first steering member 11 is rotatably connected to the first portion 211, and the first steering member 11 and the first portion 211 rotate around the first axis 13, so that the first traveling wheel 3 is driven by the first swinging member 21 to incline, and the plane where the first traveling wheel 3 is located forms an acute angle or an obtuse angle with respect to the horizontal plane. The second swinging member 22 includes a third portion 221 and two fourth portions 222, the second steering member 12 is rotatably connected to the third portion 221, the second steering member 12 and the third portion 221 both rotate along the second axis 14, and the second swinging member 22 drives the second road wheel 4 to incline so that the plane of the second road wheel 4 forms an acute angle or an obtuse angle with respect to the horizontal plane. One end of the third swinging member 23 is rotatably connected to the first portion 211 of the first swinging member 21 located above, the other end of the third swinging member 23 is rotatably connected to the third portion 221 of the second swinging member 22 located above, one end of the fourth swinging member 24 is rotatably connected to the second portion 212 of the first swinging frame located below, and the other end of the fourth swinging member 24 is rotatably connected to the fourth portion 222 of the second swinging member 22 located below. The vertical connecting lines of the rotating positions between the third swinging piece 23 and the fourth swinging piece 24 and the first swinging piece 21 are deviated from the first axis 13, and the vertical connecting lines of the rotating positions between the third swinging piece 23 and the fourth swinging piece 24 and the second swinging piece 22 are deviated from the second axis 14, at the moment, when the first swinging piece 21 and the second swinging piece 22 respectively drive the first travelling wheel 3 and the second travelling wheel 4 to incline in the steering process, the distance between the positions where the first travelling wheel 3 and the second travelling wheel 4 are contacted with the ground is reduced, and the distance which the travelling wheels positioned outside the steering radius need to move is shortened, so that the steering process is more convenient and flexible.

As shown in fig. 1, in order to make the first traveling wheel 3 and the second traveling wheel 4 more labor-saving when steering, the first traveling wheel 3 is rotatably connected to the first steering member 11, and the connection position of the first traveling wheel 3 and the first steering member 11 is deviated from the first axis 13 and is located on the side of the first portion 211 away from the second portion 212. The second road wheel 4 is rotatably connected to the second steering member 12, and the position of the connection between the second road wheel 4 and the second steering member 12 is deviated from the second axis 14 and is located on the side of the third portion 221 away from the fourth portion 222. At this time, when the first traveling wheel 3 rotates along the first axis 13 and the second traveling wheel 4 rotates along the second axis 14, the first traveling wheel 3 and the second traveling wheel 4 roll on the ground, and at this time, the steering process of the first traveling wheel 3 and the second traveling wheel 4 is more convenient.

As shown in fig. 1, in order to stabilize the tilting process of the first and

second traveling wheels

3 and 4 with respect to the ground, the interval between the rotation axes of both ends of the third swinging member 23 is equal to the interval between the rotation axes of both ends of the fourth swinging member 24; the distance between the two end rotation axes of the first swinging piece 21 is equal to the distance between the two end rotation axes of the second swinging piece 22, at the moment, the rotation axes at the two ends of the first swinging piece 21 and the rotation axes at the two ends of the second swinging piece 22 are sequentially connected to form a parallelogram, when the first swinging piece 21 and the second swinging piece 22 are in a vertical state, the first travelling wheel 3 and the second travelling wheel 4 are in a vertical state, and simultaneously, the first travelling wheel 3 and the second travelling wheel 4 are driven by the swinging mechanism 2 to simultaneously incline, so that the inclining process of the first travelling wheel 3 and the second travelling wheel 4 is more stable.

As shown in fig. 2, the steering mechanism 1 further includes a third steering member 15, one end of the third steering member 15 is rotatably connected to the first steering member 11, the other end of the third steering member 15 is rotatably connected to the second steering member 12, the rotation axes of the third steering member 15 and the first steering member 11 are offset from the first axis 13, and the rotation axes of the third steering member 15 and the second steering member 12 are offset from the second axis 14. At this time, the third steering member 15 is used to synchronize the rotation of the first traveling wheel 3 and the second traveling wheel 4, so that the first traveling wheel 3 and the second traveling wheel 4 do not rotate in opposite directions, and the use process of the first traveling wheel 3 and the second traveling wheel 4 is more stable.

As shown in fig. 2, the extension line of the vertical line from the rotation axis of the third steering member 15 and the first steering member 11 to the first axis 13 intersects with the extension line of the vertical line between the third steering member 15 and the second driving member 52. The extension of the vertical line from the rotation axis of the third steering member 15 and the second steering member 12 to the first axis 13 intersects the extension of the vertical line between the third steering member 15 and the second driving member 52. Thereby the contained angle of the rotation direction of both more increaseing when first walking wheel 3 and second walking wheel 4 turn, the contained angle towards the vehicle advancing direction that makes first walking wheel 3 and second walking wheel 4 form is greater than, the contained angle of vehicle advancing direction dorsad, inboard walking wheel rotates more angles than outside walking wheel when making the vehicle tilt steering, because the radius of travel of inside and outside walking wheel is different when the vehicle turns, can help two walking wheels point to exact direction respectively, in order to obtain more ground gripping power, make the stability of vehicle when turning higher.

As shown in fig. 2, the linkage mechanism further includes a driving mechanism 5 for driving the first swinging member 21 and the second swinging member 22 to tilt, the driving mechanism 5 includes a first driving member 51, a sleeve 53 sleeved outside the first driving member 51, and a second driving member 52 for driving the third steering member 15 to move, and the sleeve 53 is a part of the vehicle body. The first driving member 51 is located between the first steering member 11 and the second steering member 12 and rotates along the third axis 56, one end of the second driving member 52 is rotatably connected to the middle portion of the third steering member 15, and the other end of the second driving member 52 is fixed to the first driving member 51 and rotates along the third axis 56. The vertical spacing of the second driver 52 from the rotational axis of the third steering member 15 from the third axis 56 is greater than the vertical spacing of the third steering member 15 from the rotational axis of the first steering member 11 from the first axis 13. The vertical spacing of the second driver 52 from the rotational axis of the third steering member 15 from the third axis 56 is greater than the vertical spacing of the rotational axis of the third steering member 15 from the rotational axis of the second steering member 12 from the second axis 14. The third steering member 15 is located on a side of the third axis 56 facing the vehicle, the third steering member 15 includes a first rod 151 and a second rod 152, one end of the first rod 151 is rotatably connected to the first steering member 11, the other end of the first rod 151 is rotatably connected to the second driving member 52, one end of the second rod 152 is rotatably connected to the second steering member 12, and the other end of the second rod 152 is rotatably connected to the second driving member 52. A connecting line between the rotation axis of the first steering member 11 and the first supporting rod 151 to the first axis 13, and an included angle formed by the first supporting rod 151 and facing the third axis 56 is a first included angle; the angle formed by the second steering member and the second strut 152 toward the third axis 56 is a second angle; a connecting line between the first axis 13 and the first supporting rod 151 and the rotation axis of the first steering member 11 forms a third included angle with a connecting line between the first axis 13 and the third axis 56; a connecting line between the second axis 14 and the second strut 152 and the rotation axis of the second steering element 12 forms a fourth included angle with a connecting line between the second axis 14 and the third axis 56; when the first axis 13, the second axis 14 and the third axis 56 are in a vertical state, the vertical connecting lines of the first axis 13 and the second axis 14 are all perpendicular to the third axis 56 and the second driving member 52, the first included angle is equal to the second included angle, and the third included angle is equal to the fourth included angle; in this case, the first and second struts 151 and 152 on both sides of the second driving member 52 form two similar quadrangles respectively. When the first road wheels 3 and the second road wheels 4 are in the inclined state, the distance between the rotation axis of the first support rod 151 and the first steering member 11 and the rotation axis of the second support rod 152 and the second steering member 12 is reduced, and the difference between the distance between the first axis 13 and the second axis 14 is larger than the difference between the distance between the rotation axis of the first support rod 151 and the first steering member 11 and the distance between the rotation axis of the second support rod 152 and the second axis 14 when the first road wheels 3 and the second road wheels 4 are in the vertical state, and the difference between the distances between the first axis 13 and the second axis 14 is reduced. Therefore, the rotation angles of the first steering part 11 and the second steering part 12 are both larger than the rotation angle of the first driving part 51, and the first travelling wheel 3 and the second travelling wheel 4 can rotate by a larger angle under the condition that the rotation angle of the first driving part 51 is smaller, so that the turning process is more convenient.

As shown in fig. 3, when the first swinging member 21 and the second swinging member 22 are tilted and rotated, the joints of the third steering member 15, the first steering member 11 and the second steering member 12 are rotated relatively, and the joints of the three are easily damaged. The third steering element 15 is thus connected to the first steering element 11 via the first rotary mechanism 6 and to the second steering element 12 via the second rotary mechanism 7. First steering mechanism 1 is including rotating first vertical rotation piece 61 and the integrated into one piece first horizontal rotation piece 62 in first vertical rotation piece 61 that connects in first steering piece 11, and first vertical rotation piece 61 passes first steering piece 11 and both rotate and connect, and first vertical rotation piece 61 has cup jointed two thrust ball bearings, and two thrust ball axes are located the both sides of the contact position of first steering piece 11 and first vertical rotation piece 61 respectively and all with first steering piece 11 butt. The first horizontal rotating member 62 is perpendicular to the first vertical rotating member 61, the first horizontal rotating member 62 passes through the third rotating member 15 and is rotatably connected with the third rotating member 15, and the first horizontal rotating member 62 is perpendicular to the third rotating member 15. The second rotating mechanism 7 includes a second vertical rotating part 71 rotatably connected to the second steering part 12 and a second horizontal rotating part 72 integrally formed on the second vertical rotating part 71, the second vertical rotating part 71 passes through the second steering part 12 and is rotatably connected to the second steering part 12, the second vertical rotating part 71 is sleeved with two thrust ball bearings, and two thrust ball axes are respectively located on two sides of a contact position between the second steering part 12 and the second vertical rotating part 71 and are abutted to the second steering part 12. The second horizontal rotation member 72 is perpendicular to the second vertical rotation member 71, passes through the third turning member 15, and is rotatably connected to the third turning member 15, and the second horizontal rotation member 72 is perpendicular to the third turning member 15. The third steering member 15, the first rotating mechanism 6 and the second rotating mechanism 7 are connected above or below the first steering member 11 and the second steering member 12, and when the third steering member 15, the first rotating mechanism 6 and the second rotating mechanism 7 are arranged above the first steering member 11 and the second steering member 12, the rotating process of the first steering member 11 and the second steering member 12 driven by the third steering member 15 is not easily interfered. When the rotation amplitude of the first steering component 11 and the second steering component 12 changes, the first vertical rotating component 61 and the second vertical rotating component 71 rotate, so that the joint of the third steering component 15 and the first horizontal rotating component 62 and the second horizontal rotating component 72 rotates relatively, the joint of the two ends of the third steering component 15 is not easy to deform, and the rotation process of the third steering component 15 driving the first steering component 11 and the second steering component 12 is not easy to influence.

As shown in fig. 3, the first supporting rod 151 and the second supporting rod 152 are both connected to the second driving member 52 through the third rotating mechanism 8, the third rotating mechanism 8 includes a third vertical rotating member 81 rotatably connected to the second driving member 52 and a third horizontal rotating member 82 circumferentially fixed to the third vertical rotating member 81, the two third horizontal rotating members 82 are both perpendicular to the third vertical rotating member 81, and the first supporting rod 151 and the second supporting rod 152 are respectively rotatably connected to the third horizontal rotating members 81 of the two third rotating mechanisms 8. The third vertical rotating member 81 is sleeved with two plane bearings, and the end surfaces of the two plane bearings, which are close to each other, are respectively abutted to the upper and lower end surfaces of the second driving member 52.

As shown in fig. 2, the middle portions of the third swinging member 23 and the fourth swinging member 24 are both rotatably connected to the sleeve 53, the sleeve 53 is rotatably connected to the connecting member 54 that increases the connection strength of the first swinging member 21 and the second swinging member 22, the middle portion of the connecting member 54 is rotatably connected to the sleeve 53, one end of the connecting member 54 is rotatably connected to the first swinging member 21, the axis of the connecting member 54 connected to the first swinging member 21 and the rotation axes of the two second portions 212 are in the same plane, the other end of the connecting member 54 is rotatably connected to the second swinging member 22, the axis of the connecting member 54 connected to the second swinging member 22 and the rotation axes of the two fourth portions 222 are in the same plane, and the connecting member 54 and the swinging mechanism 2 are respectively located on both sides of the sleeve 53. At this time, the strength of connection between the first swinging member 21, the second swinging member 22 and the sleeve 53 is increased, and the use of the link mechanism is further stabilized.

As shown in fig. 4, bolts 25 are horizontally disposed through the rotation positions of the connecting member 54, the third swinging member 23, and the fourth swinging member 24, and the bolts 25 pass through the connecting member 54, the third swinging member 23, or the fourth swinging member 24 and are threadedly connected with nuts 26. Each bolt 25 is sleeved with a groove bearing 27, and the outer wall of the groove bearing 27 abuts against the inner wall of a hole through the bolt 25, through which the connecting member 54, the third swinging member 23 or the fourth swinging member 24 passes. The bolts 25 are respectively sleeved with two opposite locking plane bearings 28, the end faces, close to each other, of the opposite locking plane bearings 28 connected with the same bolt 25 are respectively abutted against the two end faces of the same connecting piece 54, the third swinging piece 23 or the fourth swinging piece 24, at the moment, the relative positions of the bolt 25 and the nut 26 are not easy to change in the rotating process of the connecting piece 54, the third swinging piece 23 and the fourth swinging piece 24, and therefore the using process of the connecting piece 54, the third swinging piece 23 and the fourth swinging piece 24 is more stable.

The implementation principle of the embodiment is as follows: during turning, the first driving part 51 rotates along the third axis 56 to drive the second driving part 52 to rotate, two ends of the second driving part 52 drive the first steering part 11 and the second steering part 12 to rotate along the first axis 13 and the second axis 14 respectively, at the moment, the first travelling wheel 3 and the second travelling wheel 4 rotate, an included angle between the first travelling wheel 3 and the second travelling wheel 4 facing the vehicle driving direction is larger than an included angle between the first travelling wheel 3 and the second travelling wheel 4 facing away from the vehicle driving direction, so that the movement of the vehicle is slowed down, meanwhile, the first driving part 51 inclines to drive the first travelling wheel 3 and the second travelling wheel 4 to incline, at the moment, the positions of the first travelling wheel 3 and the second travelling wheel 4 contacting the ground are close to each other, the moving distance of the travelling wheels positioned outside the turning outer diameter is reduced, and the flexibility of turning is improved.

Example 2: as shown in fig. 5, the difference from embodiment 1 is that the vertical distance between the rotating axes of the first steering member 11 and the third steering member 15 from the first axis 13 is equal to the vertical distance between the rotating axes of the second steering member 12 and the third steering member 15 from the second axis 14 is equal to the vertical distance between the rotating axes of the third steering member 15 and the second driving member 52 from the third axis 56, and the first axis 13, the second axis 14 and the third axis 56 are in the same vertical plane. The third steering member 15 includes a first rod 151 and a second rod 152, one end of the first rod 151 is rotatably connected to the second driving member 52, and the other end of the first rod 151 is rotatably connected to the first steering member 11. One end of the second rod 152 is rotatably connected to the second driving member 52, and the other end of the second rod 152 is rotatably connected to the second steering member 12. The spacing of the first strut 151 from the axis of rotation of the first steering member 11 from the first axis 13 is equal to the spacing of the first strut 151 from the steering axis of the second drive member 52 from the third axis 56; the second strut 152 is spaced from the rotational axis of the second steering member 12 by the second axis 14, which is equal to the spacing of the rotational axis of the second strut 152 and the second driver 52 from the third axis 56. The rotation angle of the second driving member 52 is made close to the rotation angles of the first and

second road wheels

3 and 4, so that the control sensitivity of the first and

second road wheels

3 and 4 is made higher.

Example 3: as shown in fig. 6, the difference from embodiment 1 is that the vertical distance between the rotational axes of the first steering member 11 and the third steering member 15 from the first axis 13 is greater than the vertical distance between the rotational axes of the third steering member 15 and the second driver 52 from the third axis 56. The vertical distance between the rotational axes of the second steering member 12 and the third steering member 15 from the second axis 14 is greater than the vertical distance between the rotational axes of the third steering member 15 and the second driver 52 from the third axis 56, and the third steering member 15 is located on the side of the third axis 56 away from the direction of travel of the vehicle. At this time, the second driving member 52 needs to rotate by a larger angle to rotate the first road wheel 3 and the second road wheel 4 to a required angle, so that the turning radius is increased, and the stability of the vehicle during turning is improved.

Embodiment 4, as shown in fig. 7, differs from embodiment 1 in that the third steering member 15 is disposed on the side of the third axis 56 facing away from the vehicle traveling direction, and the distance from the rotational axis of the first strut 151 and the first steering member 11 to the rotational axis of the second strut 152 and the second steering member 12 is smaller than the distance between the first axis 13 and the second axis 14.

A connecting line between the rotation axis of the first steering member 13 and the first support rod 151 to the first axis 13 forms a fifth angle with the first support rod 151 facing the third axis 56, a connecting line between the rotation axis of the second steering member 14 and the second support rod 152 to the second axis 14 forms a sixth angle with the second support rod 152 facing the third axis 56, and a connecting line between the first axis 13 and the rotation axis of the first support rod 151 and the first steering member 11 forms a fifth angle with the connecting line between the first axis 13 and the third axis 56; a line connecting the second axis 14 to the second strut 152 and the rotation axis of the second steering element 12 forms a sixth angle with a line connecting the second axis 14 to the third axis 56; when the first axis 13, the second axis 14 and the third axis 56 are in the vertical state, the vertical connecting lines of the first axis 13 and the second axis 14 are all perpendicular to the third axis 56 and the second driving member 52, the fifth included angle is equal to the sixth included angle, and the seventh included angle is equal to the eighth included angle. The first supporting rod 151 and the second supporting rod 152 are respectively rotatably connected to the second driving member 52 through the fourth rotating mechanism 9, the fourth rotating mechanism 9 includes a fourth vertical rotating member 91 rotatably connected to the second driving member 52 and a fourth horizontal rotating member 92 fixed to the fourth vertical rotating member 91, and the first supporting rod 151 and the second supporting rod 152 are respectively rotatably connected to the fourth horizontal rotating member 92. The fourth vertical rotation members 92 are coaxially connected with plane bearings, and the end surfaces of the two plane bearings connected by the same fourth vertical rotation member 91, which are close to each other, are respectively abutted against the upper and lower end surfaces of the second driving member 52. The rotation axes of the first support rod 151 and the second driving element 52 are perpendicular to the connection line of the second support rod 152 and the rotation axis of the second driving element 52, and when the first traveling wheel 3 and the second traveling wheel 4 are in an inclined state, the distance between the rotation axes of the first support rod 151 and the first steering element 11 and the rotation axis of the second support rod 152 and the second steering element 12 is reduced, and the difference between the distances between the first axis 13 and the second axis 14 is smaller than the distance between the rotation axes of the first support rod 151 and the first steering element 11 and the distances between the rotation axes of the second support rod 152 and the second steering element 12 when the first traveling wheel 3 and the second traveling wheel 4 are in a vertical state, and the difference between the distances between the first axis 13 and the second axis 14 is reduced. At the moment, the distance between the two ends of the third steering piece 15 is smaller than the distance between the first axis 13 and the second axis 14 in the turning process of the vehicle, so that the rotating angle of the travelling wheel positioned on the outer side of the turning outer diameter is smaller, and the turning process of the vehicle is more stable.

Embodiment 5, as shown in fig. 8, differs from embodiment 2 in that the third steering member 15 is disposed on the side of the third axis 56 facing away from the vehicle traveling direction, and the distance from the rotational axis of the first strut 151 and the first steering member 11 to the rotational axis of the second strut 152 and the second steering member 12 is smaller than the distance between the first axis 13 and the second axis 14.

Embodiment 6, as shown in fig. 10, differs from embodiment 3 in that the third steering member 15 is disposed on the side of the third axis 56 facing away from the vehicle traveling direction, and the distance from the rotational axis of the first strut 151 and the first steering member 11 to the rotational axis of the second strut 152 and the second steering member 12 is smaller than the distance between the first axis 13 and the second axis 14.

Embodiment 7 is different from the embodiment in that the third swinging member 23 includes a first swinging lever 231 and a second swinging lever 232, the first swinging lever 231 has one end rotatably connected to the first steering member 11 and the other end rotatably connected to the sleeve 53, and the second swinging lever 232 has one end rotatably connected to the second steering member 12 and the other end rotatably connected to the sleeve 53, as shown in fig. 11. The fourth swinging member 24 includes a third swinging lever 241 and a fourth swinging lever 242, one end of the third swinging lever 241 is rotatably connected to the first steering member 11, the other end thereof is rotatably connected to the sleeve 53, one end of the fourth swinging member 24 is rotatably connected to the second steering member 12, and the other end thereof is rotatably connected to the sleeve 53. The first swing lever 231 and the second swing lever 232 are both located above the third swing lever 241 and the fourth swing lever 242, the first swing lever 231 and the second swing lever 232 are connected together with an elastic member 29 that limits the upward rotation of the first steering member 11 and the second steering member 12, the elastic member 29 is a compression spring, one end of the elastic member 29 is rotatably connected with the first swing lever 231, and the other end of the elastic member 29 is rotatably connected with the second swing member 22.

The rotation axes of the first swing lever 231, the second swing lever 232, the third swing lever 241, the fourth swing lever 242 and the sleeve 53 are in the same plane with the third axis 56, the rotation axes of the first swing lever 231, the second swing lever 232 and the sleeve 53 can be overlapped, the rotation axes of the third swing lever 241 and the fourth swing lever 242 and the sleeve 53 are overlapped, at the moment, the upward movement processes of the two traveling wheels do not interfere with each other, and the vehicle traveling process is more stable.

Embodiment 8 is different from embodiment 7 in that the first and second swing levers 531 and 532 are separated from each other on the rotational axis of the bush 53, and the third and fourth swing levers 241 and 242 are separated from each other on the rotational axis of the bush 53, as shown in fig. 12.

The embodiments of the present invention are preferred embodiments of the present application, and the scope of protection of the present application is not limited by the embodiments, so: all equivalent changes made according to the structure, shape and principle of the present application shall be covered by the protection scope of the present application.

Claims

1. A double round link gear which characterized in that: comprises a steering mechanism (1) and a swinging mechanism (2), wherein the steering mechanism (1) comprises,

the first steering piece (11) drives the first travelling wheel (3) to steer along a first axis (13), and the rotating axis of the first travelling wheel (3) is perpendicular to the first axis (13);

the second steering piece (12) drives the second travelling wheel (4) to steer along a second axis (14), and the rotating axis of the second travelling wheel (4) is vertical to the second axis (14);

a third steering member (15), one end of the third steering member (15) is rotatably connected with the first steering member (11), and the other end of the third steering member (15) is rotatably connected with the second steering member (12);

the swing mechanism (2) comprises a swing arm,

the first swinging piece (21) drives the first travelling wheel (3) to incline so as to enable the plane of the first travelling wheel (3) to form an acute angle or an obtuse angle relative to the horizontal plane;

the second swinging piece (22) drives the second walking wheel (4) to incline so that the plane of the second walking wheel (4) forms an acute angle or an obtuse angle relative to the horizontal plane;

a third swinging member (23) having one end rotatably connected to the first swinging member (21) and the other end rotatably connected to the second swinging member (22);

a fourth swinging member (24) having one end rotatably connected to the first swinging member (21) and the other end rotatably connected to the second swinging member (22);

the connecting lines of the rotating positions of the third swinging piece (23) and the fourth swinging piece (24) and the first swinging piece (21) are deviated from the first axis (13);

the connecting lines of the rotating positions of the third swinging piece (23) and the fourth swinging piece (24) and the second swinging piece (22) are deviated from the second axis (14).

2. A two-wheel linkage according to claim 1, wherein: the linkage mechanism also comprises a driving mechanism (5), the driving mechanism (5) comprises,

a first driving member (51) located between the first steering member (11) and the second steering member (12) and rotating along a third axis (56);

a second driving member (52), one end of which is rotatably connected with the third steering member (15) and the other end of which is driven by the first driving member (51) to rotate around a third axis (56);

the sleeve (53) is rotatably sleeved outside the first driving piece (51);

the middle parts of the third swinging piece (23) and the fourth swinging piece (24) are rotatably connected to a sleeve (53).

3. A two-wheel linkage according to claim 1, wherein: first walking wheel (3) rotate to be connected in first steering member (11), the hookup location of first walking wheel (3) and first steering member (11) deviates from first axis (13), second walking wheel (4) rotate to be connected in second steering member (12), the hookup location of second steering member (12) and second walking wheel (4) deviates from second axis (14).

4. A two-wheel linkage according to claim 2, wherein: said third oscillating element (23) comprising,

one end of the first swinging rod (231) is rotatably connected to the first steering member (11), and the other end of the first swinging rod (231) is rotatably connected with the sleeve (53);

one end of the second swinging rod (232) is rotatably connected to the second steering member (12), and the other end of the second swinging rod (232) is rotatably connected with the sleeve (53);

said fourth oscillating element (24) comprising,

one end of the third swinging rod (241) is rotatably connected to the first steering element (11), and the other end of the third swinging rod (23) is rotatably connected with the sleeve (53);

one end of the fourth swinging rod (242) is rotatably connected to the second steering element (12), and the other end of the fourth swinging rod (242) is rotatably connected with the sleeve (53);

the rotating axes of the first swinging rod (231), the second swinging rod (232), the third swinging rod (241), the fourth swinging rod (242) and the sleeve (53) are all in the same vertical plane with the third axis (56);

the swing mechanism (2) is connected with an elastic piece (29) which limits the upward rotation of the first steering piece (11) and the second steering piece (12), one end of the elastic piece (29) is rotatably connected with the first swing rod (231) or the third swing rod (241), and the other end of the elastic piece (29) is rotatably connected with the second swing rod (232) or the fourth swing rod (242).

5. A two-wheel linkage according to claim 1, wherein: said third steering member (15) comprising,

one end of the first supporting rod (151) is rotatably connected to the second driving piece (52), and the other end of the first supporting rod (151) is rotatably connected to the first steering piece (11);

and one end of the second supporting rod (152) is rotatably connected to the second driving piece (52), and the other end of the second supporting rod (152) is rotatably connected to the second steering piece (12).

6. A two-wheel linkage according to claim 5, wherein: the third steering member (15) is connected with the first steering member (11) through the first rotating mechanism (6); the third steering part (15) is connected with the second steering part (12) through a second rotating mechanism (7);

the first rotating mechanism (6) comprises,

a first vertical rotating member (61) vertically and rotatably connected to the first steering member (11);

a first horizontal rotating member (62) vertically fixed to the first vertical rotating member (61) and rotatably connected to the third steering member (15);

the second rotating mechanism (7) comprises,

a second vertical rotating member (71) vertically and rotatably connected to the second steering member (12);

a second horizontal rotating member (72) vertically fixed to the second vertical rotating member (71) and rotatably connected to the third steering member (15);

the first supporting rod (151) and the second supporting rod (152) are respectively connected with a second driving piece (52) through a third rotating mechanism (8), the third rotating mechanism (8) comprises,

a third vertical rotating member (81) vertically and rotatably connected to the second driving member (52);

and the third horizontal rotating part (82) is vertically fixed on the third vertical rotating part (81) and is rotatably connected with the first supporting rod (151) or the second supporting rod (152).

7. A two-wheel linkage according to claim 2, wherein: the sleeve (53) is rotatably connected with a connecting piece (54) which connects the first swinging piece (21) with the second swinging piece (22), one end of the connecting piece (54) is rotatably connected with the first swinging piece (21), the other end of the connecting piece (54) is rotatably connected with the second swinging piece (22), and the connecting piece (54) is positioned on one side of the sleeve (53) far away from the swinging mechanism (2).

8. A two-wheel linkage according to claim 7, wherein: the bolt (25) is arranged at the rotating position of the connecting piece (54), the third swinging piece (23) and the fourth swinging piece (24) in a penetrating mode, the bolts (25) are connected with nuts (26) in a threaded mode, the bolts (25) are sleeved with groove bearings (27), the outer ring of each groove bearing (27) is abutted to the connecting piece (54), the third swinging piece (23) or the fourth swinging piece (24) respectively, the bolts (25) are sleeved with two opposite locking plane bearings (28), the opposite locking plane bearings (28) are located on two sides of the groove bearings (27) respectively, and the end faces, close to the groove bearings (27), of the opposite locking plane bearings (28) are abutted to the end faces of the connecting piece (54), the third swinging piece (23) or the fourth swinging piece (24) respectively.

9. A two-wheel linkage according to any of claims 1 to 8, wherein: the third steering member (15) is located on one side of the third axis (56) in the direction of travel of the vehicle;

a connecting line from the rotating axis of the first steering piece (11) and the first support rod (151) to the first axis (13) forms a first included angle with a third axis (56) formed by the first support rod (151);

the connecting line between the rotating axes of the second steering piece (12) and the second support rod (152) and the second axis (14) forms a second included angle with the third axis (56) formed by the second support rod (152);

a connecting line from the first axis (13) to the first support rod (151) and a rotating axis of the first steering piece (11) forms a third included angle with a connecting line from the first axis (13) to the third axis (56);

a connecting line from the second axis (14) to the second support rod (152) and a rotating axis of the second steering piece (12) forms a fourth included angle with a connecting line from the second axis (14) to the third axis (56);

when the first axis (13), the second axis (14) and the third axis (56) are in a vertical state, the vertical connecting lines of the first axis (13) and the second axis (14) are perpendicular to the third axis (56) and the second driving part (52);

the first included angle is equal to the second included angle;

the third included angle is equal to the fourth included angle;

when the first walking wheel (3) and the second walking wheel (4) are in an inclined state, the distance from the rotating axis of the first supporting rod (151) and the first steering piece (11) to the rotating axis of the second supporting rod (152) and the second steering piece (12) is reduced, and the difference of the distance between the first axis (13) and the second axis (14) is greater than the distance between the rotating axis of the first supporting rod (151) and the first steering piece (11) and the rotating axis of the second supporting rod (152) and the second steering piece (12) when the first walking wheel (3) and the second walking wheel (4) are in a vertical state, and the difference of the distance between the first axis (13) and the second axis (14) is reduced.

10. A two-wheel linkage according to any of claims 1 to 8, wherein: the third steering element (15) is located on the side of the third axis (56) facing away from the direction of travel of the vehicle;

a connecting line from the rotating axis of the first steering piece (11) and the first support rod (151) to the first axis (13) forms a fifth included angle with an included angle towards the third axis (56) formed by the first support rod (151);

a connecting line between the rotating axes of the second steering piece (12) and the second support rod (152) and the second axis (14) forms a sixth included angle with an included angle towards the third axis (56) formed by the second support rod (152);

a connecting line from the first axis (13) to the first support rod (151) and a rotating axis of the first steering piece (11) forms a seventh included angle with a connecting line from the first axis (13) to the third axis (56);

the connecting line from the second axis (14) to the second support rod (152) and the rotating axis of the second steering piece (12) forms an eighth included angle with the connecting line from the second axis (14) to the third axis (56);

the fifth included angle is equal to the sixth included angle;

the seventh included angle is equal to the eighth included angle;

when first walking wheel (3) and second walking wheel (4) are in the tilt state, the distance between the axis of rotation of first branch (151) and first steering piece (11) to the axis of rotation of second branch (152) and second steering piece (12) reduces, and the difference of the interval between first axis (13) and second axis (14) is less than, and when first walking wheel (3) and second walking wheel (4) are in vertical state, the distance between the axis of rotation of first branch (151) and first steering piece (11) to the axis of rotation of second branch (152) and second steering piece (12) reduces, the difference of the interval between first axis (13) and second axis (14).