CN216497457U - Steering device and moving trolley - Google Patents
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- 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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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。
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.
Description
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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.
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