CN216497457U - Steering device and moving trolley - Google Patents

Steering device and moving trolley Download PDF

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Publication number
CN216497457U
CN216497457U CN202122389032.3U CN202122389032U CN216497457U CN 216497457 U CN216497457 U CN 216497457U CN 202122389032 U CN202122389032 U CN 202122389032U CN 216497457 U CN216497457 U CN 216497457U
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connecting arm
steering
rod
tie rod
steering device
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饶谦彬
郝计军
解俊杰
刘培超
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Shenzhen Yuejiang Technology Co Ltd
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Shenzhen Yuejiang Technology Co Ltd
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Abstract

本实用新型公开一种转向装置及移动小车,该转向装置包括车架、第一连接臂、第二连接臂、转向横拉杆、连杆机构和舵机,第一连接臂的一端与车架转动连接,第一连接臂的另一端与转向横拉杆的一端转动连接,第二连接臂的一端与车架转动连接,第二连接臂的另一端与转向横拉杆的另一端转动连接;连杆机构的两端分别与舵机的输出轴和转向横拉杆连接,舵机、连杆机构、转向横拉杆、第一连接臂和第二连接臂在平面内进行力矩传递。本实用新型转向装置的力矩传递在同一平面内进行,输出扭矩效率高,故可采用体积小的舵机,并且无体积较大的鱼眼轴承关节的设置,减小了整体结构的体积,空间占用小。

Figure 202122389032

The utility model discloses a steering device and a mobile trolley. The steering device comprises a vehicle frame, a first connecting arm, a second connecting arm, a steering tie rod, a link mechanism and a steering gear. One end of the first connecting arm rotates with the vehicle frame. connection, the other end of the first connecting arm is rotatably connected with one end of the steering tie rod, one end of the second connecting arm is rotatably connected with the frame, and the other end of the second connecting arm is rotatably connected with the other end of the steering tie rod; the linkage mechanism The two ends of the steering gear are respectively connected with the output shaft of the steering gear and the steering tie rod, and the steering gear, the connecting rod mechanism, the steering tie rod, the first connecting arm and the second connecting arm perform torque transmission in the plane. The torque transmission of the steering device of the utility model is carried out in the same plane, and the output torque efficiency is high, so the steering gear with small volume can be used, and there is no installation of large fisheye bearing joints, which reduces the volume and space of the overall structure. Small footprint.

Figure 202122389032

Description

转向装置及移动小车Steering device and mobile trolley

技术领域technical field

本实用新型涉及移动小车技术领域,特别涉及一种转向装置及移动小车。The utility model relates to the technical field of mobile trolleys, in particular to a steering device and a mobile trolley.

背景技术Background technique

现如今,大部分的玩具车或教育模拟类的小车上均设置有前轮转向机构,前轮转向通常采用基于阿克曼转向原理设计的梯形结构,并通过舵机提供驱动梯形连杆结构变形的动力。Nowadays, most toy cars or educational simulation cars are equipped with a front wheel steering mechanism. The front wheel steering usually adopts a trapezoidal structure designed based on the Ackerman steering principle, and provides driving through the steering gear to drive the deformation of the trapezoidal link structure. 's motivation.

目前,舵机通常在移动小车的中部位置水平安装,舵机的输出轴在竖直面内旋转产生的力矩,通过鱼眼轴承关节转换为水平面内的力矩以输出至梯形结构,其输出扭矩效率低。其中,所设置的鱼眼轴承关节体积大,并且,为达到高输出扭矩效率,也需用到体积较大的舵机,从而导致转向结构整体占用较大空间。At present, the steering gear is usually installed horizontally in the middle of the moving trolley. The torque generated by the rotation of the output shaft of the steering gear in the vertical plane is converted into the torque in the horizontal plane through the fisheye bearing joint to output to the trapezoidal structure, and its output torque efficiency is Low. Among them, the provided fisheye bearing joint has a large volume, and in order to achieve high output torque efficiency, a large-volume steering gear is also required, so that the overall steering structure occupies a large space.

实用新型内容Utility model content

本实用新型的主要目的是提出一种转向装置,旨在解决目前移动小车的转向结构占用空间大的技术问题。The main purpose of the utility model is to propose a steering device, which aims to solve the technical problem that the steering structure of the current mobile trolley occupies a large space.

为实现上述目的,本实用新型提出一种转向装置,该转向装置包括车架、第一连接臂、第二连接臂、转向横拉杆、连杆机构和舵机,第一连接臂的一端与车架转动连接,第一连接臂的另一端与转向横拉杆的一端转动连接,第二连接臂的一端与车架转动连接,第二连接臂的另一端与转向横拉杆的另一端转动连接;In order to achieve the above purpose, the present utility model proposes a steering device, the steering device includes a vehicle frame, a first connecting arm, a second connecting arm, a steering tie rod, a link mechanism and a steering gear, and one end of the first connecting arm is connected to the vehicle. The frame is rotatably connected, the other end of the first connecting arm is rotatably connected with one end of the steering tie rod, one end of the second connecting arm is rotatably connected with the frame, and the other end of the second connecting arm is rotatably connected with the other end of the steering tie rod;

连杆机构的两端分别与舵机的输出轴和转向横拉杆连接,舵机、连杆机构、转向横拉杆、第一连接臂和第二连接臂在平面内进行力矩传递。The two ends of the connecting rod mechanism are respectively connected with the output shaft of the steering gear and the steering tie rod, and the steering gear, the connecting rod mechanism, the steering tie rod, the first connecting arm and the second connecting arm perform torque transmission in the plane.

其中,舵机位于第一连接臂和第二连接臂之间。Wherein, the steering gear is located between the first connecting arm and the second connecting arm.

其中,连杆机构包括摆杆和传动杆,摆杆的一端与舵机的输出轴固定连接,摆杆的另一端与传动杆的一端转动连接,传动杆的另一端与转向横拉杆转动连接。The link mechanism includes a swing rod and a transmission rod, one end of the pendulum rod is fixedly connected with the output shaft of the steering gear, the other end of the swing rod is rotatably connected with one end of the transmission rod, and the other end of the transmission rod is rotatably connected with the steering tie rod.

其中,舵机的输出轴竖直朝下设置,传动杆位于转向横拉杆的下方。Among them, the output shaft of the steering gear is arranged vertically downward, and the transmission rod is located below the steering rod.

其中,摆杆位于传动杆的下方。Among them, the swing rod is located below the transmission rod.

其中,摆杆上与舵机的输出轴连接的一端具有朝下延伸设置的凸出部,车架上对应构造有避让凸出部的通孔。Wherein, the end of the swing rod connected to the output shaft of the steering gear has a protruding portion extending downward, and the vehicle frame is correspondingly configured with a through hole for avoiding the protruding portion.

其中,第一连接臂、第二连接臂、转向横拉杆、摆杆、传动杆的长度比为1∶1∶3∶1∶(0.4~0.5)。Wherein, the length ratio of the first connecting arm, the second connecting arm, the steering tie rod, the swing rod, and the transmission rod is 1:1:3:1:(0.4-0.5).

其中,第一连接臂和第二连接臂与车架之间分别设有连接组件,连接组件包括转动设置在车架上的第一轴套,第一轴套位于第一连接臂和第二连接臂的下方,第一连接臂和第二连接臂与第一轴套通过第一紧固件连接。Wherein, connecting assemblies are respectively provided between the first connecting arm and the second connecting arm and the frame, and the connecting assemblies include a first bushing rotatably arranged on the frame, and the first bushing is located between the first connecting arm and the second connecting arm. Below the arm, the first connecting arm and the second connecting arm are connected with the first bushing through a first fastener.

其中,连接组件还包括转动的第二轴套,第二轴套位于第一连接臂和第二连接臂的上方,第一连接臂和第二连接臂与第二轴套通过第二紧固件连接,第二轴套与第一轴套上下相对设置。Wherein, the connecting assembly further includes a rotating second bushing, the second bushing is located above the first connecting arm and the second connecting arm, the first connecting arm and the second connecting arm and the second bushing are connected by a second fastener connected, the second shaft sleeve and the first shaft sleeve are arranged up and down opposite to each other.

本实用新型还提出一种移动小车,该移动小车包括前述记载的转向装置。The utility model also proposes a mobile trolley, which includes the steering device described above.

与现有技术相比,本实用新型技术方案的有益效果在于:Compared with the prior art, the beneficial effects of the technical solution of the present utility model are:

本实用新型转向装置中的舵机、连杆机构、转向横拉杆、第一连接臂和第二连接臂在平面内进行力矩传递,输出扭矩效率高,故可采用体积小的舵机,并且无体积较大的鱼眼轴承关节的设置,减小了整体结构的体积,空间占用小。The steering gear, the connecting rod mechanism, the steering tie rod, the first connecting arm and the second connecting arm in the steering device of the utility model transmit torque in the plane, and the output torque efficiency is high, so the steering gear with small volume can be used, and no The installation of the larger fisheye bearing joint reduces the volume of the overall structure and occupies less space.

附图说明Description of drawings

图1为本实用新型一实施例中转向装置的结构示意图;1 is a schematic structural diagram of a steering device in an embodiment of the present invention;

图2为图1中转向装置另一视角下的结构示意图;FIG. 2 is a schematic structural diagram of the steering device from another perspective in FIG. 1;

图3为图1中转向装置的爆炸图;Fig. 3 is an exploded view of the steering device in Fig. 1;

图4为图1中转向装置的各部件长度设置的示意图;Fig. 4 is the schematic diagram of the length setting of each component of the steering device in Fig. 1;

图5为图1中转向装置部分结构的爆炸图。FIG. 5 is an exploded view of the partial structure of the steering device in FIG. 1 .

具体实施方式Detailed ways

下面将结合本实用新型实施例中的附图,对本实用新型实施例中的方案进行清楚完整的描述,显然,所描述的实施例仅是本实用新型中的一部分实施例,而不是全部的实施例。基于本实用新型中的实施例,本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例,都属于本实用新型保护的范围。The solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the implementations. example. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present invention.

需要说明,本实用新型实施例中所有方向性指示(诸如上、下、左、右、前、后……)仅用于解释在某一特定姿态(如附图所示)下各部件之间的相对位置关系、运动情况等,如果该特定姿态发生改变时,则该方向性指示也相应地随之改变。It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the difference between the various components under a certain posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication also changes accordingly.

还需要说明的是,当元件被称为“固定于”或“设置于”另一个元件上时,它可以直接在另一个元件上或者可能同时存在居中元件。当一个元件被称为是“连接”另一个元件,它可以是直接连接另一个元件或者可能同时存在居中元件。It will also be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.

另外,在本实用新型中涉及“第一”、“第二”等的描述仅用于描述目的,而不能理解为指示或暗示其相对重要性或者隐含指明所指示的技术特征的数量。由此,限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。另外,各个实施例之间的技术方案可以相互结合,但是必须是以本领域普通技术人员能够实现为基础,当技术方案的结合出现相互矛盾或无法实现时应当认为这种技术方案的结合不存在,也不在本实用新型要求的保护范围之内。In addition, the descriptions involving "first", "second", etc. in the present invention are only for description purposes, and should not be understood as indicating or implying their relative importance or implicitly indicating the number of indicated technical features. Thus, a feature delimited with "first", "second" may expressly or implicitly include at least one of that feature. In addition, the technical solutions between the various embodiments can be combined with each other, but must be based on the realization by those of ordinary skill in the art. When the combination of technical solutions is contradictory or cannot be realized, it should be considered that the combination of such technical solutions does not exist. , is not within the scope of protection required by the present utility model.

本实用新型提出一种转向装置,参照图1,该转向装置包括车架100、第一连接臂200、第二连接臂300、转向横拉杆400、连杆机构500和舵机600,第一连接臂200的一端与车架100转动连接,第一连接臂200的另一端与转向横拉杆400的一端转动连接,第二连接臂300的一端与车架100转动连接,第二连接臂300的另一端与转向横拉杆400的另一端转动连接;The utility model proposes a steering device. Referring to FIG. 1 , the steering device includes a vehicle frame 100 , a first connecting arm 200 , a second connecting arm 300 , a steering tie rod 400 , a link mechanism 500 and a steering gear 600 . One end of the arm 200 is rotatably connected to the frame 100, the other end of the first connecting arm 200 is rotatably connected to one end of the tie rod 400, one end of the second connecting arm 300 is rotatably connected to the frame 100, and the other end of the second connecting arm 300 is rotatably connected to the frame 100. One end is rotatably connected with the other end of the tie rod 400;

连杆机构500的两端分别与舵机600的输出轴和转向横拉杆400连接,舵机600、连杆机构500、转向横拉杆400、第一连接臂200和第二连接臂300在平面内进行力矩传递。Both ends of the link mechanism 500 are respectively connected with the output shaft of the steering gear 600 and the steering tie rod 400. The steering gear 600, the link mechanism 500, the steering tie rod 400, the first connecting arm 200 and the second connecting arm 300 are in a plane torque transmission.

本实施例的转向装置可用于实现移动小车的前轮转向,该移动小车可为教育模拟类的小车或玩具车。具体地,转向装置由车架100、第一连接臂200、第二连接臂300、转向横拉杆400、连杆机构500和舵机600组成,车架100可采用板体或架体的构造形式,并且其可为属于或不属于移动小车底盘的结构部分,当其不作为移动小车底盘的结构部分,在具体设置时则可安装于移动小车底盘上。第一连接臂200、第二连接臂300、转向横拉杆400与车架100的局部构成基于阿克曼转向原理的等腰梯形结构,第一连接臂200、第二连接臂300在车架100的左右方向上相对设置,且二者与车架100转动连接的一端连接车轮的车轮轴。并且,上述所提出的部件之间的转动连接关系可通过采用铜轴套实现。The steering device of this embodiment can be used to realize the steering of the front wheels of a mobile car, and the mobile car can be an educational simulation car or a toy car. Specifically, the steering device is composed of a frame 100, a first connecting arm 200, a second connecting arm 300, a tie rod 400, a link mechanism 500 and a steering gear 600. The frame 100 can be in the form of a plate body or a frame body. , and it may or may not be a structural part of the chassis of the mobile trolley. When it is not a structural part of the chassis of the mobile trolley, it can be installed on the chassis of the mobile trolley during specific settings. Parts of the first connecting arm 200 , the second connecting arm 300 , the tie rod 400 and the frame 100 form an isosceles trapezoid structure based on the Ackermann steering principle. They are arranged opposite in the left and right directions, and the one end of the two rotatably connected with the frame 100 is connected to the wheel axle of the wheel. Moreover, the rotational connection relationship between the above-mentioned components can be realized by using copper bushings.

其中,舵机600、连杆机构500、转向横拉杆400、第一连接臂200和第二连接臂300在平面内进行力矩传递,该平面可理解为一水平面;结合上述所提出的各部件之间的连接关系,当舵机600的输出轴转动时,舵机600输出的力矩依次传递,连杆机构500带动转向横拉杆400移动,转向横拉杆400带动第一连接臂200和第二连接臂300分别绕其与车架100的转动连接点转动,从而相应带动左右前车轮转向。容易理解的是,当舵机600的输出轴正向或反向转动时,左右前车轮对应左转或右转。Among them, the steering gear 600, the link mechanism 500, the tie rod 400, the first connecting arm 200 and the second connecting arm 300 transmit torque in a plane, and the plane can be understood as a horizontal plane; When the output shaft of the steering gear 600 rotates, the torque output by the steering gear 600 is transmitted in turn, the link mechanism 500 drives the steering tie rod 400 to move, and the steering tie rod 400 drives the first connecting arm 200 and the second connecting arm The 300 rotates around its rotational connection point with the frame 100 respectively, thereby driving the left and right front wheels to turn accordingly. It is easy to understand that when the output shaft of the steering gear 600 rotates forward or reverse, the left and right front wheels turn left or right correspondingly.

本转向装置中的舵机600、连杆机构500、转向横拉杆400、第一连接臂200和第二连接臂300在平面内进行力矩传递,输出扭矩效率高,故可采用体积小的舵机600,并且无体积较大的鱼眼轴承关节的设置,减小了整体结构的体积,空间占用小。The steering gear 600, the link mechanism 500, the steering tie rod 400, the first connecting arm 200 and the second connecting arm 300 in the steering device transmit torque in the plane, and the output torque efficiency is high, so a small-sized steering gear can be used 600, and there is no large fisheye bearing joint, which reduces the volume of the overall structure and occupies a small space.

在一较佳实施例中,参照图1和图2,舵机600位于第一连接臂200和第二连接臂300之间。其中,第一连接臂200与第二连接臂300之间具有安装空间,本实施例将舵机600安装在第一连接臂200和第二连接臂300之间,可避免安装在其它位置以占用其它结构的安装空间,实现空间的合理利用,有利于提高结构紧凑性。In a preferred embodiment, referring to FIGS. 1 and 2 , the steering gear 600 is located between the first connecting arm 200 and the second connecting arm 300 . Wherein, there is an installation space between the first connecting arm 200 and the second connecting arm 300. In this embodiment, the steering gear 600 is installed between the first connecting arm 200 and the second connecting arm 300, which can avoid being installed in other positions to occupy The installation space of other structures can realize the rational utilization of the space, which is beneficial to improve the compactness of the structure.

在一较佳实施例中,参照图1和图2,连杆机构500包括摆杆510和传动杆520,摆杆510的一端与舵机600的输出轴固定连接,摆杆510的另一端与传动杆520的一端转动连接,传动杆520的另一端与转向横拉杆400转动连接。舵机600的输出轴转动时,驱动摆杆510摆动,进而通过传动杆520传动转向横拉杆400移动。其中,传动杆520与转向横拉杆400的转动连接点位于转向横拉杆400的两端之间,具体位置根据实际情况设置。本实施例中,连杆机构500采用摆杆510和传动杆520,结构简单、易于设置且传动稳定。In a preferred embodiment, referring to FIGS. 1 and 2 , the link mechanism 500 includes a swing rod 510 and a transmission rod 520, one end of the swing rod 510 is fixedly connected with the output shaft of the steering gear 600, and the other end of the swing rod 510 is connected to the output shaft of the steering gear 600. One end of the transmission rod 520 is rotatably connected, and the other end of the transmission rod 520 is rotatably connected with the tie rod 400 . When the output shaft of the steering gear 600 rotates, the swing rod 510 is driven to swing, and then the steering rod 400 is driven to move through the transmission rod 520 . Wherein, the rotational connection point of the transmission rod 520 and the tie rod 400 is located between the two ends of the tie rod 400, and the specific position is set according to the actual situation. In this embodiment, the link mechanism 500 adopts a swing rod 510 and a transmission rod 520, which has a simple structure, is easy to set, and has stable transmission.

进一步地,参照图1和图2,舵机600的输出轴竖直朝下设置,传动杆520位于转向横拉杆400的下方。此结构设置布局,可使转向横拉杆400处于舵机600的高度空间内,降低转向装置的整体高度,有助于节省空间,使结构更加紧凑。Further, referring to FIGS. 1 and 2 , the output shaft of the steering gear 600 is arranged vertically downward, and the transmission rod 520 is located below the tie rod 400 . The arrangement and layout of the structure can make the steering rod 400 in the height space of the steering gear 600, reduce the overall height of the steering device, save space and make the structure more compact.

进一步地,参照图1和图2,摆杆510位于传动杆520的下方。此结构设置布局,使舵机600往下安装,以较大程度的扩大舵机600的上方空间,便于其他结构的设置。Further, referring to FIGS. 1 and 2 , the swing rod 510 is located below the transmission rod 520 . In this structure, the layout is arranged so that the steering gear 600 is installed downward, so as to enlarge the space above the steering gear 600 to a greater extent and facilitate the installation of other structures.

进一步地,参照图3,摆杆510上与舵机600的输出轴连接的一端具有朝下延伸设置的凸出部511,车架100上对应构造有避让凸出部511的通孔110。本实施例中,通过车架100上的通孔110容纳摆杆510的凸出部511,以使摆杆510临近车架100设置,从而可使舵机600进一步往下安装,扩大舵机600的上方空间和提升结构紧凑性。Further, referring to FIG. 3 , one end of the swing rod 510 connected to the output shaft of the steering gear 600 has a downwardly extending protrusion 511 , and the vehicle frame 100 is correspondingly formed with a through hole 110 for avoiding the protrusion 511 . In this embodiment, the protruding portion 511 of the swing rod 510 is accommodated through the through hole 110 on the vehicle frame 100 , so that the swing rod 510 is disposed adjacent to the vehicle frame 100 , so that the steering gear 600 can be further installed downward and the steering gear 600 can be enlarged. the upper space and improve the compactness of the structure.

在一较佳实施例中,第一连接臂200、第二连接臂300、转向横拉杆400、摆杆510、传动杆520的长度比为1∶1∶3∶1∶(0.4~0.5)。In a preferred embodiment, the length ratio of the first connecting arm 200, the second connecting arm 300, the tie rod 400, the swing rod 510, and the transmission rod 520 is 1:1:3:1:(0.4-0.5).

参照图4,其中的BE段对应为第一连接臂200,DF段对应为第二连接臂300,BD段对应为转向横拉杆400,GH段对应为摆杆510,CH段对应为传动杆520。基于上述各部件的长度比关系,例如,BE、DF的长度设为26mm,BD的长度对应为78mm,GH的长度对应为26mm,CH的长度对应为11.5mm;并且作为优设,EF段(即左右前车轮间隔)的长度设为96mm,IJ段(即前后车轮间隔)的长度设为128.63mm,BC段的长度设为28mm,CD段的长度设为50mm,以达到理想的几何关系;在转向时,转向内轮(左转向即为左前车轮)的最大转向角度可达到39°,转向外轮(即右前车轮)的转向角度为27.37°,其小于转向内轮的转向角度,转向内轮和转向外轮法线的交点与后车轮的转向圆心重合,可实现车轮全滚动无打滑的转向过程,转向精度高。4 , the BE section corresponds to the first connecting arm 200 , the DF section corresponds to the second connecting arm 300 , the BD section corresponds to the steering tie rod 400 , the GH section corresponds to the swing rod 510 , and the CH section corresponds to the transmission rod 520 . Based on the length ratio relationship of the above components, for example, the length of BE and DF is set to 26mm, the length of BD is corresponding to 78mm, the length of GH is corresponding to 26mm, and the length of CH is corresponding to 11.5mm; That is, the length of the left and right front wheel spacing) is set to 96mm, the length of the IJ segment (ie the front and rear wheel spacing) is set to 128.63mm, the length of the BC segment is set to 28mm, and the length of the CD segment is set to 50mm, in order to achieve the ideal geometric relationship; When turning, the maximum steering angle of the inner wheel (left steering is the left front wheel) can reach 39°, and the steering angle of the outer wheel (ie the right front wheel) is 27.37°, which is smaller than the steering angle of the inner wheel. The intersection point with the normal line of the steering outer wheel coincides with the steering center of the rear wheel, which can realize the steering process of full wheel rolling and no slippage, and the steering precision is high.

在一较佳实施例中,参照图5,第一连接臂200和第二连接臂300与车架100之间分别设有连接组件,连接组件包括转动设置在车架100上的第一轴套10,第一轴套10位于第一连接臂200和第二连接臂300的下方,第一连接臂200和第二连接臂300与第一轴套10通过第一紧固件1连接。连接组件为两个且分别对应第一连接臂200和第二连接臂300设置,第一连接臂200和第二连接臂300与车架100通过连接组件以实现转动连接。连接组件包括第一轴套10,第一轴套10转动设置在车架100上,并通过第一紧固件1与位于其上方的第一连接臂200和第二连接臂300连接,从而第一连接臂200、第二连接臂300可在车架100上转动。作为优选,第一轴套10优选铜轴套。其中,第一紧固件1为螺钉。In a preferred embodiment, referring to FIG. 5 , connecting components are respectively provided between the first connecting arm 200 and the second connecting arm 300 and the vehicle frame 100 , and the connecting components include a first bushing rotatably arranged on the vehicle frame 100 10. The first bushing 10 is located below the first connecting arm 200 and the second connecting arm 300 , and the first connecting arm 200 and the second connecting arm 300 are connected with the first bushing 10 by the first fastener 1 . There are two connecting assemblies, which are respectively provided corresponding to the first connecting arm 200 and the second connecting arm 300 , and the first connecting arm 200 and the second connecting arm 300 are connected with the vehicle frame 100 through the connecting assemblies to realize rotational connection. The connecting assembly includes a first bushing 10, the first bushing 10 is rotatably arranged on the frame 100, and is connected with the first connecting arm 200 and the second connecting arm 300 above it through the first fastener 1, so that the first A connecting arm 200 and a second connecting arm 300 can rotate on the frame 100 . Preferably, the first bushing 10 is preferably a copper bushing. Wherein, the first fastener 1 is a screw.

进一步地,参照图5,连接组件还包括转动的第二轴套20,第二轴套20位于第一连接臂200和第二连接臂300的上方,第一连接臂200和第二连接臂300与第二轴套20通过第二紧固件2连接,第二轴套20与第一轴套10上下相对设置。在所设第一轴套10的基础上,连接组件还包括第二轴套20,第二轴套20通过车架100上的安装架安装,以位于第一连接臂200和第二连接臂300的上方,并通过第二紧固件2与位于其下方的第一连接臂200和第二连接臂300连接。第二轴套20与第一轴套10上下配合,以进一步提升第一连接臂200和第二连接臂300与车架100转动连接的稳定性。作为优选,第二轴套20优选铜轴套。其中,第二紧固件2为螺钉。Further, referring to FIG. 5 , the connecting assembly further includes a rotating second bushing 20 , the second bushing 20 is located above the first connecting arm 200 and the second connecting arm 300 , the first connecting arm 200 and the second connecting arm 300 The second shaft sleeve 20 is connected with the second shaft sleeve 20 through the second fastener 2 , and the second shaft sleeve 20 and the first shaft sleeve 10 are disposed up and down opposite to each other. On the basis of the provided first bushing 10 , the connecting assembly further includes a second bushing 20 , and the second bushing 20 is installed through the mounting bracket on the vehicle frame 100 to be positioned on the first connecting arm 200 and the second connecting arm 300 and connected with the first connecting arm 200 and the second connecting arm 300 located below it through the second fastener 2 . The second bushing 20 cooperates with the first bushing 10 up and down to further enhance the stability of the rotational connection between the first connecting arm 200 and the second connecting arm 300 and the frame 100 . Preferably, the second bushing 20 is preferably a copper bushing. Wherein, the second fastener 2 is a screw.

本实用新型还提出一种移动小车,该移动小车包括前述实施例记载的转向装置,该转向装置的具体结构参照上述实施例,由于本移动小车采用了上述所有实施例的所有技术方案,因此至少具有上述实施例的技术方案所带来的全部技术效果,在此不再一一赘述。The utility model also proposes a mobile trolley, the mobile trolley includes the steering device described in the foregoing embodiments, and the specific structure of the steering device refers to the above-mentioned embodiments. All the technical effects brought about by the technical solutions of the above-mentioned embodiments are not repeated here.

以上所述的仅为本实用新型的部分或优选实施例,无论是文字还是附图都不能因此限制本实用新型保护的范围,凡是在与本实用新型一个整体的构思下,利用本实用新型说明书及附图内容所作的等效结构变换,或直接/间接运用在其他相关的技术领域均包括在本实用新型保护的范围内。The above descriptions are only part or preferred embodiments of the present utility model, and neither the text nor the accompanying drawings can therefore limit the scope of protection of the present utility model. The equivalent structural transformation made by the content of the drawings and the drawings, or the direct/indirect application in other related technical fields are all included in the protection scope of the present invention.

Claims (10)

1.一种转向装置,其特征在于,包括车架、第一连接臂、第二连接臂、转向横拉杆、连杆机构和舵机,所述第一连接臂的一端与所述车架转动连接,所述第一连接臂的另一端与所述转向横拉杆的一端转动连接,所述第二连接臂的一端与所述车架转动连接,所述第二连接臂的另一端与所述转向横拉杆的另一端转动连接;1. A steering device, characterized in that it comprises a vehicle frame, a first connecting arm, a second connecting arm, a steering tie rod, a link mechanism and a steering gear, and one end of the first connecting arm rotates with the vehicle frame The other end of the first connecting arm is rotatably connected with one end of the tie rod, one end of the second connecting arm is rotatably connected with the frame, and the other end of the second connecting arm is connected with the The other end of the steering tie rod is connected in rotation; 所述连杆机构的两端分别与所述舵机的输出轴和所述转向横拉杆连接,所述舵机、所述连杆机构、所述转向横拉杆、所述第一连接臂和所述第二连接臂在平面内进行力矩传递。Both ends of the link mechanism are respectively connected with the output shaft of the steering gear and the steering tie rod, the steering gear, the link mechanism, the steering tie rod, the first connecting arm and the tie rod. The second connecting arm performs torque transmission in a plane. 2.根据权利要求1所述的转向装置,其特征在于,所述舵机位于所述第一连接臂和所述第二连接臂之间。2 . The steering device according to claim 1 , wherein the steering gear is located between the first connecting arm and the second connecting arm. 3 . 3.根据权利要求1所述的转向装置,其特征在于,所述连杆机构包括摆杆和传动杆,所述摆杆的一端与所述舵机的输出轴固定连接,所述摆杆的另一端与所述传动杆的一端转动连接,所述传动杆的另一端与所述转向横拉杆转动连接。3 . The steering device according to claim 1 , wherein the link mechanism comprises a swing rod and a transmission rod, one end of the swing rod is fixedly connected with the output shaft of the steering gear, and the The other end is rotatably connected with one end of the transmission rod, and the other end of the transmission rod is rotatably connected with the tie rod. 4.根据权利要求3所述的转向装置,其特征在于,所述舵机的输出轴竖直朝下设置,所述传动杆位于所述转向横拉杆的下方。4 . The steering device according to claim 3 , wherein the output shaft of the steering gear is arranged vertically downward, and the transmission rod is located below the steering tie rod. 5 . 5.根据权利要求4所述的转向装置,其特征在于,所述摆杆位于所述传动杆的下方。5 . The steering device according to claim 4 , wherein the swing rod is located below the transmission rod. 6 . 6.根据权利要求5所述的转向装置,其特征在于,所述摆杆上与所述舵机的输出轴连接的一端具有朝下延伸设置的凸出部,所述车架上对应构造有避让所述凸出部的通孔。6 . The steering device according to claim 5 , wherein one end of the swing rod connected to the output shaft of the steering gear has a downwardly extending protruding portion, and the frame is correspondingly configured with a Avoid the through holes of the protrusions. 7.根据权利要求3所述的转向装置,其特征在于,所述第一连接臂、所述第二连接臂、所述转向横拉杆、所述摆杆、所述传动杆的长度比为1∶1∶3∶1∶(0.4~0.5)。7 . The steering device according to claim 3 , wherein the length ratio of the first connecting arm, the second connecting arm, the tie rod, the swing rod and the transmission rod is 1. 8 . :1:3:1:(0.4~0.5). 8.根据权利要求1所述的转向装置,其特征在于,所述第一连接臂和所述第二连接臂与所述车架之间分别设有连接组件,所述连接组件包括转动设置在所述车架上的第一轴套,所述第一轴套位于所述第一连接臂和所述第二连接臂的下方,所述第一连接臂和所述第二连接臂与所述第一轴套通过第一紧固件连接。8 . The steering device according to claim 1 , wherein a connecting assembly is respectively provided between the first connecting arm and the second connecting arm and the frame, and the connecting assembly includes a rotatably arranged on a first bushing on the frame, the first bushing is located below the first connecting arm and the second connecting arm, the first connecting arm and the second connecting arm are connected to the The first bushing is connected by a first fastener. 9.根据权利要求8所述的转向装置,其特征在于,所述连接组件还包括转动的第二轴套,所述第二轴套位于所述第一连接臂和所述第二连接臂的上方,所述第一连接臂和所述第二连接臂与所述第二轴套通过第二紧固件连接,所述第二轴套与所述第一轴套上下相对设置。9 . The steering device according to claim 8 , wherein the connecting assembly further comprises a rotating second bushing, the second bushing is located between the first connecting arm and the second connecting arm. 10 . Above, the first connecting arm and the second connecting arm are connected with the second bushing through a second fastener, and the second bushing and the first bushing are arranged opposite to each other up and down. 10.一种移动小车,其特征在于,包括权利要求1-9任一项所述的转向装置。10. A mobile cart, characterized by comprising the steering device according to any one of claims 1-9.
CN202122389032.3U 2021-09-28 2021-09-28 Steering device and moving trolley Active CN216497457U (en)

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