WO2022083577A1 - Double-wheel linkage mechanism - Google Patents

Abstract

A double-wheel linkage mechanism, comprising a steering mechanism (1) and a swing mechanism (2), wherein the steering mechanism (1) comprises a first steering member (11) and a second steering member (12). The swing mechanism (2) comprises a first swing member (21), a second swing member (22), a third swing member (23), and a fourth swing member (24). A connecting line of rotation positions between the third swing member (23) and the first swing member (21), and between the fourth swing member (24) and the first swing member (21) deviates from a first axis (13); and a connecting line of rotation positions between the third swing member (23) and the second swing member (22), and between the fourth swing member (24) and the second swing member (22) deviates from a second axis (14). The steering mechanism comprises a third steering member (15), wherein one end of the third steering member (15) is rotatably connected to the first steering member (11), and the other end of the third steering member (15) is rotatably connected to the second steering member (12). By means of the double-wheel linkage mechanism, the included angles between a first walking wheel and a second walking wheel, when inclined, and a position of contact with the ground are reduced by means of the swing mechanism, thereby reducing the rolling distance of the walking wheel located outside a turning radius, and improving the steering flexibility.

Description

A two-wheel linkage mechanism technical field

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

Background technique

At present, during the steering process of multi-wheel steering vehicles, the two traveling wheels are usually turned at the same time, and at the same time, the two traveling wheels are inclined in the direction of deflection during the steering process, so that the vehicle body is inclined in the direction of deflection and reduced. Rollover of the car body.

In view of the above-mentioned related art, the inventor believes that the distance between the two traveling wheels remains the same when the two traveling wheels are turned. At this time, the traveling wheel located outside the turning radius needs to move a larger distance when turning, and the Moving a greater distance requires more work, making the steering process of the traveling wheel more troublesome.

Therefore, it is necessary to propose a new technical solution to solve the above problems.

SUMMARY OF THE INVENTION

In order to make the rotation process of the traveling wheels more flexible during the turning process of the vehicle, the present application provides a two-wheel linkage mechanism.

A kind of double-wheel linkage mechanism provided by the application adopts the following technical solutions:

A two-wheel linkage mechanism includes a steering mechanism and a swing mechanism, the steering mechanism includes,

The first steering member drives the first traveling wheel to turn along the first axis, and the rotation axis of the first traveling wheel is perpendicular to the first axis;

the second steering member drives the second traveling wheel to turn along the second axis, and the rotation axis of the second traveling wheel is perpendicular to the second axis;

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

The swing mechanism includes,

The first swinging member drives the first traveling wheel to incline so that the plane where the first traveling wheel is located forms an acute angle or an obtuse angle with respect to the horizontal plane;

The second swinging member drives the second traveling wheel to incline so that the plane where the second traveling wheel is located forms an acute angle or an obtuse angle with respect to the horizontal plane;

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

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

The line connecting the rotational positions of the third swinging member, the fourth swinging member and the first swinging member is deviated from the first axis;

The line connecting the rotational positions of the third swinging member, the fourth swinging member and the second swinging member is deviated from the second axis.

By adopting the above technical solution, in the process that the swing mechanism drives the first traveling wheel and the second traveling wheel to deflect, the distance between the positions where the first traveling wheel and the second traveling wheel are in contact with the ground is reduced, thereby reducing the radius of rotation The moving distance of the outer running wheel makes the rotation process of the first running wheel and the second running wheel more convenient and flexible.

Optional: the linkage mechanism further includes a drive mechanism, and the drive mechanism includes,

The first driving member is located between the first steering member and the second steering member and rotates along the third axis;

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

a sleeve, which is rotatably sleeved outside the first driving member;

The middle parts of the third swing member and the fourth swing member are both rotatably connected to the sleeve.

By adopting the above technical solution, the driving mechanism is used to drive the third steering member to move, so as to realize the steering of the first traveling wheel and the second traveling wheel.

Optional: the first traveling wheel is rotatably connected to the first steering member, the connection position between the first traveling wheel and the first steering member is deviated from the first axis, and the second traveling wheel is rotatably connected to the second steering member , the connection position of the second steering member and the second traveling wheel is deviated from the second axis.

By adopting the above technical solution, during the turning process of the first traveling wheel and the second traveling wheel, the first traveling wheel and the second traveling wheel will rotate along their own axes, so that the first traveling wheel and the second traveling wheel will rotate. More convenient when turning.

Optional: the third swinging member includes,

a first swing rod, one end of the first swing rod is rotatably connected to the first steering member, and the other end of the first swing rod is rotatably connected to the sleeve;

a second swing rod, one end of the second swing rod is rotatably connected to the second steering member, and the other end of the second swing rod is rotatably connected to the sleeve;

The fourth rocking member includes,

a third swing rod, one end of the third swing rod is rotatably connected to the first steering member, and the other end of the third swing member is rotatably connected to the sleeve;

a fourth swing rod, one end of the fourth swing rod is rotatably connected to the second steering member, and the other end of the fourth swing rod is rotatably connected to the sleeve;

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

The swing mechanism is connected with an elastic member that restricts the upward rotation of the first steering member and the second steering member. One end of the elastic member is rotatably connected to the first swing rod or the third swing rod, and the other end of the elastic member is connected to the second swing rod. The lever or the fourth swing lever is rotatably connected.

By adopting the above technical solution, relative rotation occurs between the first swing rod and the second swing rod. At this time, during the upward movement of one traveling wheel, the other traveling wheel is not easy to move, so that the running of the vehicle is more stable.

Optional: the third steering member includes,

a first support rod, one end of the first support rod is rotatably connected to the second driving member, and the other end of the first support rod is rotatably connected to the first steering member;

A second support rod, one end of the second support rod is rotatably connected to the second driving member, and the other end of the second support rod is rotatably connected to the second steering member.

By adopting the above technical solution, the rotation angles of the first traveling wheel and the second traveling wheel are fixed when turning, so that the angle between the first traveling wheel and the second traveling wheel facing the direction of the vehicle is reduced, thereby reducing the angle between the first traveling wheel and the second traveling wheel. Slow down the speed of the vehicle, make the vehicle slow down during the steering process, and increase the stability of the vehicle.

Optionally: the third steering member is connected to the first steering member through a first rotation mechanism; the third steering member is connected to the second steering member through a second rotation mechanism;

The first rotation mechanism includes,

a first vertical rotating member, vertically and rotatably connected to the first steering member;

The first horizontal rotating member is vertically fixed to the first vertical rotating member and is rotatably connected to the third steering member;

The second rotation mechanism includes,

a second vertical rotating member, vertically and rotatably connected to the second steering member;

The second horizontal rotating member is vertically fixed to the second vertical rotating member and is rotatably connected to the third steering member.

By adopting the above technical solution, the first turning mechanism and the second turning mechanism are used to connect the third steering member to the first steering member and the second steering member respectively, so that the connection between the two ends of the third steering member is not easily affected;

The first support rod and the second support rod are respectively connected with the second driving member through a third rotation mechanism, and the third rotation mechanism includes:

a third vertical rotating member, vertically and rotatably connected to the second driving member;

The third horizontal rotating member is vertically fixed to the third vertical rotating member and is rotatably connected to the first support rod or the second support rod.

Optional: the sleeve is rotatably connected with a connecting piece that connects the first swinging piece with the second swinging piece, one end of the connecting piece is rotatably connected with the first swinging piece, and the other end of the connecting piece is connected with the second swinging piece Rotating connection, the connecting piece is located on the side of the sleeve away from the swing mechanism.

By adopting the above technical solution, the connection strength between the sleeve and the swing mechanism is increased, thereby increasing the stability of the vehicle during use.

Optional: bolts are pierced through the rotating parts of the connecting piece, the third swinging piece and the fourth swinging piece, the bolts are all threadedly connected with nuts, the bolts are sleeved with groove bearings, and the grooves are The outer ring of the groove bearing is in contact with the connecting piece, the third swinging piece or the fourth swinging piece respectively, and the bolts are sleeved with two anti-locking plane bearings, and the anti-locking plane bearings are located on both sides of the groove bearing respectively. , the end faces of the pair of locking plane bearings close to the groove bearing are respectively in contact with the end faces of the connecting piece, the third swinging piece or the fourth swinging piece.

By adopting the above technical solution, the groove bearing and the anti-locking plane bearing are used to make the relative rotation between the bolt and the nut less likely to occur, so that the connecting piece and the reinforcing piece are less likely to fall off during the rotation process, and the use process of the linkage mechanism is more stable.

Optional: the third steering member is located on the side of the third axis close to the driving direction of the vehicle;

The connection line between the rotational positions of the third swinging member (23), the fourth swinging member (24) and the first swinging member (21) is arranged at a position where the first axis (13) is away from the first traveling wheel (3). one side;

The connecting line between the rotational positions of the third swinging member (23), the fourth swinging member (24) and the second swinging member (22) is arranged at a position where the second axis (14) is away from the second traveling wheel (4). side.

The line connecting the rotation axis of the first steering member and the first support rod to the first axis, and the included angle formed by the first support rod toward the third axis is the first included angle;

The line connecting the rotation axis of the second steering member and the second support rod to the second axis, and the included angle formed by the second support rod toward the third axis is the second included angle;

The included angle formed by the connecting line from the first axis to the first support rod and the rotation axis of the first steering member and the connecting line from the first axis to the third axis is the third included angle;

The included angle formed by the connecting line from the second axis to the second support rod and the rotation axis of the second steering member and the connecting line from the second axis to the third axis is the fourth included angle;

When the first axis, the second axis and the third axis are in a vertical state, the vertical connecting lines of the first axis and the second axis are all perpendicular to the third axis and the second driving member;

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

The third angle is equal to the fourth angle;

When the first traveling wheel and the second traveling wheel are in the inclined state, the distance from the rotation axis of the first support rod and the first steering member to the rotation axis of the second support rod and the second steering member is less than that of the first axis and the rotation axis of the second steering member. The difference between the distances between the second axes is greater than, when the first traveling wheel and the second traveling wheel are in the vertical state, the rotation axis of the first support rod and the first steering member to the distance between the second support rod and the second steering member The distance of the axis of rotation, minus the difference in the spacing between the first axis and the second axis.

By adopting the above technical solution, the ratio between the dimensions is limited, so that the rotation angle of the traveling wheel located inside the turning radius is smaller during the tilting and rotating process of the first traveling wheel and the second traveling wheel, so that the first traveling wheel and the second traveling wheel have a smaller rotation angle. The traveling wheels and the second traveling wheels point to the correct traveling direction respectively, which increases the grip force between the first traveling wheel and the second traveling wheel and the ground, and makes the turning process of the vehicle more stable.

Optional: the third steering member is located on the side of the third axis away from the direction in which the vehicle travels;

The connecting line from the rotation axis of the first steering member and the first support rod to the first axis, and the included angle formed by the first support rod toward the third axis is the fifth included angle;

The connecting line from the rotation axis of the second steering member and the second support rod to the second axis, and the included angle formed by the second support rod toward the third axis is the sixth included angle;

The included angle formed by the connecting line from the first axis to the first support rod and the rotation axis of the first steering member and the connecting line from the first axis to the third axis is the seventh included angle;

The included angle formed by the connecting line from the second axis to the second support rod and the rotation axis of the second steering member and the connecting line from the second axis to the third axis is the eighth included angle;

When the first axis, the second axis and the third axis are in a vertical state, the vertical connecting lines of the first axis and the second axis are all perpendicular to the third axis and the second driving member;

The fifth angle is equal to the sixth angle;

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

When the first traveling wheel and the second traveling wheel are in the inclined state, the distance from the rotation axis of the first support rod and the first steering member to the rotation axis of the second support rod and the second steering member is less than that of the first axis and the rotation axis of the second steering member. The difference between the distances between the second axes is smaller than, when the first traveling wheel and the second traveling wheel are in the vertical state, the rotation axis of the first support rod and the first steering member to the distance between the second support rod and the second steering member The distance of the axis of rotation, minus the difference in the spacing between the first axis and the second axis.

By adopting the above technical solution, when the third steering member is located in the sleeve away from the driving direction of the vehicle, the third steering member can still drive the deflection angle of the traveling wheel located on the inner side of the steering radius when the first traveling wheel and the second traveling wheel rotate. Larger, make the first traveling wheel and the second traveling wheel face the running direction of the vehicle, increase the gripping force of the first traveling wheel and the second traveling wheel, and increase the stability of the vehicle when driving.

To sum up, the present application includes at least one of the following beneficial technical effects:

1. The present application reduces the distance between the position where the first traveling wheel and the second traveling wheel are in contact with the ground when inclined through the swing mechanism, thereby reducing the rolling distance of the traveling wheel located outside the turning radius and improving the flexibility of steering ;

2. When the two steering members are turned by the third steering member, the turning angles of the first walking wheel and the second walking wheel are different, and the steering 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 can walk The wheels face the running direction of the vehicle, which increases the grip of the first running wheel and the second running wheel, and increases the stability of the vehicle when turning.

Description of drawings

FIG. 1 is a schematic diagram for displaying a swing mechanism in Embodiment 1 of the application;

FIG. 2 is a schematic diagram for showing the connection position of the driving mechanism and the steering mechanism in Embodiment 1 of the application;

FIG. 3 is a schematic diagram for showing the first rotating mechanism and the second rotating mechanism in Embodiment 1 of the application;

FIG. 4 is a schematic diagram showing the structure of the connecting part, the third swinging part and the fourth swinging part in the first embodiment of the application;

FIG. 5 is a schematic diagram for showing that the third axis, the first axis and the second axis are in the same vertical plane according to the second embodiment of the application.

6 is a schematic diagram of Embodiment 3 of the application for showing that the third axis is located on the side of the connecting line between the first axis and the second axis that is close to the driving direction of the vehicle;

7 is a schematic diagram of a structure in Embodiment 4 of the application for 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 facing away from the driving direction of the vehicle;

8 is a schematic structural diagram of Embodiment 5 of the application for showing that the third steering member is located on the 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 diagram for showing the structure of the fourth rotating mechanism in Embodiment 5 of the application;

10 is a schematic structural diagram of Embodiment 6 of the application for 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 where the swing mechanism affects the running direction of the vehicle;

FIG. 11 is a schematic diagram for showing the structure of the swing mechanism in Embodiment 7 of the application;

FIG. 12 is a schematic diagram showing the connection positions of the first swing rod and the second swing rod and the sleeve according to Embodiment 8 of the application;

Fig. 13 is the embodiment 9 of the application for showing the rotation position of the third swinging member and the fourth swinging member connected to the first swinging member. , a schematic diagram of the vertical line connecting the fourth swinging member to the rotational position of the second swinging member on the side of the second axis close to the second traveling wheel.

In the figure, 1, steering mechanism; 11, first steering member; 12, second steering member; 13, first axis; 14, second axis; 15, third steering member; 151, first strut; 152, The second support rod; 152, the waist groove; 2, the swing mechanism; 21, the first swing piece; 211, the first part; 212, the second part; 22, the second swing piece; 221, the third part; 222, the first Four parts; 23, the third rocking member; 231, the first rocking rod; 232, the second rocking rod; 24, the fourth rocking member; 241, the third rocking rod; 242, the fourth rocking rod; 25, the bolt; 26 , nut; 27, groove bearing; 28, locking plane bearing; 29, elastic part; 3, the first walking wheel; 4, the second walking wheel; 5, the driving mechanism; 51, the first driving part; 52, the first Two driving parts; 53, sleeve; 54, connecting part; 56, third axis; 6, first rotating mechanism; 61, first vertical rotating part; 62, first horizontal rotating part; 7, second rotating mechanism 71, the second vertical rotation member; 72, the second horizontal rotation member; 8, the third rotation mechanism; 81, the third vertical rotation member; 82, the third horizontal rotation member; 9, the fourth rotation mechanism; 91 , the fourth vertical rotating member; 92, the fourth horizontal rotating member.

Detailed ways

The present application will be further described in detail below with reference to the accompanying drawings.

A two-wheel linkage mechanism adjusts the turning angle and the inclination angle of the steering wheel during the turning process of the vehicle, so that the turning process of the vehicle is more stable.

Embodiment 1: As shown in FIG. 1 , it includes a steering mechanism 1 that guides the steering of the traveling wheels and a swing mechanism 2 that makes the traveling wheels tilt relative to the ground. The steering mechanism 1 includes a steering mechanism that drives the first traveling wheels 3 to turn along the first axis 13. The first steering member 11 and the second steering member 12 that drives the second walking wheel 4 to turn along the second axis 14, the first walking wheel 3 is rotatably connected to the first steering member 11, and the rotation axis of the first walking wheel 3 is perpendicular to the first steering member 11. An axis 13 , the second traveling wheel 4 is rotatably connected to the second steering member 12 , and the rotation axis of the second traveling wheel 4 is perpendicular to the second axis 14 .

As shown in FIG. 2 , the swing mechanism 2 includes a first swing member 21 that drives the first steering member 11 to deflect, a second swing member 22 that drives the second steering member 12 to tilt, 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 sidewall of the first portion 211 . The first turning member 11 is rotatably connected to the first portion 211 , and the first turning member 11 and the first portion 211 surround the first turning member 11 and the first portion 211 . An axis 13 rotates, and the first swinging member 21 drives the first traveling wheel 3 to incline, so that 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. Both the second steering member 12 and the third portion 221 rotate along the second axis 14. The two swinging members 22 drive the second traveling wheel 4 to incline, so that the plane where the second traveling wheel 4 is located 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 upper first portion 211 of the first swinging member 21 , and the other end of the third swinging member 23 is rotatably connected to the upper third portion 221 of the second swinging member 22 . The fourth swinging member One end of the fourth swinging member 24 is rotatably connected to the lower second portion 212 of the first swing frame, and the other end of the fourth swinging member 24 is rotatably connected to the lower fourth portion 222 of the second swinging member 22 . The vertical line connecting the rotational positions of the third swinging member 23 and the fourth swinging member 24 and the first swinging member 21 deviates from the side of the first axis 13 away from the first traveling wheel 3 . The third swinging member 23 and the first swinging member 21 The vertical connection line between the rotational positions of the four-swinging member 24 and the second swinging member 22 deviates from the side of the second axis 14 away from the second traveling wheel 4 . At this time, the first swinging member 21 and the second swinging member are caused to turn around. When the component 22 drives the first traveling wheel 3 and the second traveling wheel 4 to incline respectively, the distance between the positions where the first traveling wheel 3 and the second traveling wheel 4 are in contact with the ground is reduced, and the traveling wheels located on the outside of the turning radius need to The moving distance is shortened, which makes the steering process more convenient and flexible.

As shown in FIG. 1 , in order to save the effort of the first traveling wheel 3 and the second traveling wheel 4 when turning, the first traveling wheel 3 is rotatably connected to the first steering member 11 , and the first traveling wheel 3 and the first steering member 11 are rotatably connected. The connecting position of the first part 211 is deviated from the first axis 13 and is located on the side of the first part 211 away from the second part 212 . The second traveling wheel 4 is rotatably connected to the second steering member 12 . The connecting position of the second traveling wheel 4 and the second steering member 12 is offset 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 running wheel 3 rotates along the first axis 13 and the second running wheel 4 rotates along the second axis 14, the first running wheel 3 and the second running wheel 4 roll on the ground, and at this time, the first running wheel 3 and the second running wheel 4 roll on the ground. The steering process of the traveling wheel 3 and the second traveling wheel 4 is more convenient.

As shown in FIG. 1 , in order to make the inclination process of the first traveling wheel 3 and the second traveling wheel 4 relative to the ground more stable, the distance between the rotation axes of the two ends of the third swinging member 23 is equal to that of the fourth swinging member The distance between the two ends of the rotation axis of the first swing member 21 is equal to the distance between the two ends of the second swing member 22. The rotation axes at both ends and the rotation axes at both ends of the second swinging member 22 are connected in turn to form a parallelogram. When the first swinging member 21 and the second swinging member 22 are in a vertical state, the first traveling wheel 3 and the second traveling wheel 4 are in the vertical state. In the vertical state, the tilting process is simultaneously generated under the driving of the swing mechanism 2, so that the tilting process of the first traveling wheel 3 and the second traveling 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 , and 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 deviated from the first axis 13 , and the rotation axes of the third steering member 15 and the second steering member 12 are deviated 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, so that the first traveling wheel 3 and the second traveling wheel 4 do not rotate in opposite directions. The use process of the wheel 3 and the second traveling wheel 4 is more stable.

As shown in FIG. 2 , the extension line of the vertical line connecting the rotation axis of the third steering member 15 and the first steering member 11 to the first axis 13 intersects at the point between the third steering member 15 and the second driving member 52 . An extension of a vertical connection. The extension line of the vertical connection line from the rotation axis of the third steering member 15 and the second steering member 12 to the first axis 13 intersects with the extension line of the vertical connection line between the third steering member 15 and the second driving member 52 . Therefore, when the first traveling wheel 3 and the second traveling wheel 4 turn, the included angle between the rotation directions of the two is larger, so that the included angle formed by the first traveling wheel 3 and the second traveling wheel 4 toward the traveling direction of the vehicle is greater than, The angle facing away from the traveling direction of the vehicle makes the inner running wheel turn more angle than the outer running wheel when the vehicle is tilted and turned. Since the driving radius of the inner and outer running wheels is different when the vehicle turns, it can help the two running wheels to point to the correct direction respectively. direction of travel for more grip and more stability when cornering.

As shown in FIG. 2 , the linkage mechanism further includes a drive mechanism 5 that drives the first swing member 21 and the second swing member 22 to incline. The drive mechanism 5 includes a first drive member 51 and a sleeve sleeved outside the first drive member 51 . 53 and the second driving member 52 that drives 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 of the third steering member 15, and the second driving member The other end of 52 is fixed with the first driving member 51 and rotates along the third axis 56 . The vertical distance between the rotation axes of the second driving member 52 and the third steering member 15 from the third axis 56 is greater than the vertical distance between the rotation axes of the third steering member 15 and the first steering member 11 from the first axis 13 . The vertical distance between the rotation axes of the second driving member 52 and the third steering member 15 from the third axis 56 is greater than the vertical distance between the rotation axes of the third steering member 15 and the second steering member 12 from the second axis 14 . The third steering member 15 is located on the side of the third axis 56 facing the vehicle. The third steering member 15 includes a first support rod 151 and a second support rod 152 . One end of the first support rod 151 rotates with the first steering member 11 . Connected, the other end of the first support rod 151 is rotatably connected with the second driving member 52 , one end of the second support rod 152 is rotatably connected with the second steering member 12 , and the other end of the second support rod 152 is rotated with the second driving member 52 connect. The line connecting the rotation axis of the first steering member 11 and the first support rod 151 to the first axis 13 and the included angle formed by the first support rod 151 towards the third axis 56 are the first included angle; the second steering member The line connecting the rotation axis of the second support rod 152 to the second axis 14, and the included angle formed by the second support rod 152 toward the third axis 56 is the second included angle; the first axis 13 to the first support rod The connection line between 151 and the rotation axis of the first steering member 11, and the angle formed by the connection line from the first axis 13 to the third axis 56 is the third angle; the second axis 14 to the second support rod 152 and the first The angle formed between the line connecting the rotation axes of the two steering members 12 and the line connecting the second axis 14 to the third axis 56 is the fourth angle; when the first axis 13 , the second axis 14 and the third axis 56 In the vertical state, the vertical connection line between the first axis 13 and the second axis 14 is 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 angle; at this time, the first support rod 151 and the second support rod 152 on both sides of the second driving member 52 respectively form two similar quadrilaterals. When the first traveling wheel 3 and the second traveling wheel 4 are in the inclined state, the distance from the rotation axis of the first support rod 151 and the first steering member 11 to the rotation axis of the second support rod 152 and the second steering member 12 is less than The difference between the distances between the first axis 13 and the second axis 14 is greater than that when the first traveling wheel 3 and the second traveling wheel 4 are in the vertical state, the rotation axes of the first support rod 151 and the first steering member 11 reach The distance between the second support rod 152 and the rotation axis of the second steering member 12 is less than the difference in the distance between the first axis 13 and the second axis 14 . Therefore, the rotation angles of the first steering member 11 and the second steering member 12 are both larger than the rotation angle of the first driving member 51, and the first driving wheel 3 and the second driving wheel 3 and the second driving member 51 when the rotation angle of the first driving member 51 is smaller. Wheel 4 can be rotated to a larger angle, making the process of turning more convenient.

As shown in FIG. 3 , when the first swinging member 21 and the second swinging member 22 are inclined and rotated, the connection between the third turning member 15 and the first turning member 11 and the second turning member 12 will rotate relative to each other. , which can easily lead to damage to the connection between the three. Therefore, the third steering member 15 is connected to the first steering member 11 through the first rotation mechanism 6 , and is connected to the second steering member 12 through the second rotation mechanism 7 . The first steering mechanism 1 includes a first vertical rotating member 61 rotatably connected to the first steering member 11 and a first horizontal rotating member 62 integrally formed with the first vertical rotating member 61. The first vertical rotating member 61 passes through the first vertical rotating member 61. The first steering member 11 is rotatably connected to the two, the first vertical rotation member 61 is sleeved with two thrust ball bearings, and the axes of the two thrust balls are located at the contact positions of the first steering member 11 and the first vertical rotation member 61 respectively. Both sides of the , and both are in contact with the first steering member 11 . The first horizontal rotating member 62 is arranged perpendicular to the first vertical rotating member 61 , the first horizontal rotating member 62 passes through the third steering member 15 and the two are rotatably connected, and the first horizontal rotating member 62 is arranged perpendicular to the third steering member 15 . The second rotating mechanism 7 includes a second vertical rotating member 71 rotatably connected to the second steering member 12 and a second horizontal rotating member 72 integrally formed with the second vertical rotating member 71 , the second vertical rotating member 71 passing through The second steering member 12 and the two are rotatably connected, the second vertical rotation member 71 is sleeved with two thrust ball bearings, and the axes of the two thrust balls are located at the contact positions of the second steering member 12 and the second vertical rotation member 71 respectively. Both sides are in contact with the second steering member 12 . The second horizontal rotation member 72 is arranged perpendicular to the second vertical rotation member 71 , passes through the third steering member 15 and is rotatably connected with the second horizontal rotation member 72 , and is arranged perpendicular to the third steering 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 , when the third steering member 15 , the first rotating mechanism 6 and the second steering member 12 When the rotating mechanism 7 is disposed above the first steering member 11 and the second steering member 12 , the rotation process of the third steering member 15 driving the first steering member 11 and the second steering member 12 is not easily interfered. When the rotation range of the first steering member 11 and the second steering member 12 changes, the first vertical rotation member 61 and the second vertical rotation member 71 will rotate, so that the third steering member 15 and the first horizontal rotation are caused The connection between the rotating member 62 and the second horizontal rotating member 72 will rotate relative to each other, so that the rotational connection between the two ends of the third steering member 15 is not easily deformed, so that the third steering member 15 drives the first steering member 11 and the second steering member 15. The rotation process of the member 12 is not easily affected.

As shown in FIG. 3 , both the first support rod 151 and the second support rod 152 are connected to the second driving member 52 through the third rotating mechanism 8 , and the third rotating mechanism 8 includes a third vertical shaft rotatably connected to the second driving member 52 . The straight rotating member 81 and the third horizontal rotating member 82 circumferentially fixed to the third vertical rotating member 81, the two third horizontal rotating members 82 are arranged perpendicular to the third vertical turning member 81, the first support rod 151 and The second support rods 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 faces of the two plane bearings that are close to each other are in contact with the upper and lower end faces of the second driving member 52 respectively.

As shown in FIG. 2 , the middle parts of the third swinging member 23 and the fourth swinging member 24 are both rotatably connected to the sleeve 53 , and the sleeve 53 is rotatably connected with a connection that increases the connection strength of the first swinging member 21 and the second swinging member 22 54, the middle part of the connecting piece 54 is rotatably connected to the sleeve 53, one end of the connecting piece 54 is rotatably connected with the first swinging piece 21, the axis of the connecting piece 54 and the first swinging piece 21 is connected with the rotation of the two second parts 212 The axes are in the same plane, the other end of the connecting member 54 is connected in rotation with the second swinging member 22, the axis of the connecting member 54 connecting with the second swinging member 22 and the rotation axes of the two fourth parts 222 are in the same plane, and the connecting member 54 and the second swinging member 22 are in the same plane. The swing mechanism 2 is located on both sides of the sleeve 53, respectively. At this time, the connection strength between the first swing member 21, the second swing member 22 and the sleeve 53 is increased, so that the use process of the linkage mechanism is more stable.

As shown in FIG. 4 , the connecting member 54 , the third swinging member 23 and the fourth swinging member 24 are all provided with horizontally arranged bolts 25 at the rotational positions, and the bolts 25 pass through the connecting member 54 , the third swinging member 23 or the first The structure of the connection of the four swinging members 24 is screwed with a nut 26 . Each bolt 25 is sleeved with a groove bearing 27 , and the outer wall of the groove bearing 27 abuts on the inner wall of the hole through which the connecting member 54 , the third swinging member 23 or the fourth swinging member 24 passes through the bolt 25 . Each of the bolts 25 is sleeved with two anti-locking plane bearings 28 , and the end faces of the anti-locking plane bearings 28 connected with the same bolt 25 that are close to each other are in contact with the two end faces of the same connecting member 54 , the third swinging member 23 or the fourth swinging member 24 respectively. At this time, the relative positions of the bolt 25 and the nut 26 are not easily changed during the rotation of the connecting member 54, the third swinging member 23 and the fourth swinging member 24, so that the connecting member 54, the third swinging member 23 and the fourth swinging member 24 are not easily changed. The use process of the piece 24 is more stable.

The implementation principle of this embodiment is: when turning, the first driving member 51 rotates along the third axis 56 to drive the second driving member 52 to rotate, and both ends of the second driving member 52 drive the first steering member 11 and the second steering member The member 12 rotates along the first axis 13 and the second axis 14 respectively. At this time, the first traveling wheel 3 and the second traveling wheel 4 rotate, and the angle between the first traveling wheel 3 and the second traveling wheel 4 facing the driving direction of the vehicle is greater than The angle between the two opposite to the driving direction of the vehicle, thereby slowing down the movement of the vehicle, and at the same time the first driving member 51 is inclined to drive the first traveling wheel 3 and the second traveling wheel 4 to tilt. At this time, the first traveling wheel 3 and the second traveling wheel The positions of the wheel 4 in contact with the ground are close to each other, which reduces the distance moved by the traveling wheels located outside the outer radius of the turning, and increases the flexibility of steering.

Embodiment 2: As shown in FIG. 5 , the difference from Embodiment 1 is that the vertical distance between the rotation axes of the first steering member 11 and the third steering member 15 from the first axis 13 is equal to that of the second steering member. 12 and the vertical distance between the rotation axis of the third steering member 15 and the second axis 14 is equal to the vertical distance between the rotation axis of the third steering member 15 and the second driving member 52 from the third axis 56. At this time, 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 support rod 151 and a second support rod 152 . One end of the first support rod 151 is rotatably connected to the second driving member 52 , and the other end of the first support rod 151 is rotatably connected to the first steering member 11 . . One end of the second support rod 152 is rotatably connected with the second driving member 52 , and the other end of the second support rod 152 is rotatably connected with the second steering member 12 . The distance between the first support rod 151 and the rotation axis of the first steering member 11 and the first axis 13 is equal to the distance between the first support rod 151 and the steering axis of the second driving member 52 and the third axis 56; the second support rod The distance between 152 and the rotation axis of the second steering member 12 and the second axis 14 is equal to the distance between the second support rod 152 and the rotation axis of the second driving member 52 and the third axis 56 . The rotation angle of the second driving member 52 is close to the rotation angle of the first traveling wheel 3 and the second traveling wheel 4 , so that the control sensitivity of the first traveling wheel 3 and the second traveling wheel 4 is higher.

Embodiment 3: As shown in FIG. 6 , the difference from Embodiment 1 is that the vertical distance between the rotation axes of the first steering member 11 and the third steering member 15 from the first axis 13 is greater than that of the third steering member 15 The vertical distance from the rotation axis of the second drive member 52 to the third axis 56 . The vertical distance between the rotation 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 rotation axes of the third steering member 15 and the second driving member 52 from the third axis 56, and the third The 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 a larger angle to make the first traveling wheel 3 and the second traveling wheel 4 turn to the required angle, thereby increasing the turning radius and increasing the stability of the vehicle when turning.

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 that faces away from the driving direction of the vehicle, and the first support rod 151 is connected to the first steering member. The distance from the rotation axis of 11 to the second support rod 152 and the rotation axis of 12 of the second steering member is smaller than the distance between the first axis 13 and the second axis 14 .

The line connecting the rotation axis of the first steering member 13 and the first support rod 151 to the first axis 13 and the angle formed by the first support rod 151 towards the third axis 56 is the fifth angle, and the second steering member 14 and the line connecting the rotation axis of the second support rod 152 to the second axis 14, and the angle formed by the second support rod 152 towards the third axis 56 is the sixth angle, and the first axis 13 to the first support The connecting line between the rod 151 and the rotation axis of the first steering member 11 and the connecting line from the first axis 13 to the third axis 56 form the fifth angle; the second axis 14 to the second support rod 152 and The angle formed by the line connecting the rotation axes of the second steering member 12 and the line connecting the second axis 14 to the third axis 56 is the sixth angle; when the first axis 13 , the second axis 14 and the third axis 56 is in a vertical state, the vertical connection between the first axis 13 and the second axis 14 is perpendicular to the third axis 56 and the second driving member 52, the fifth angle is equal to the sixth angle, and the seventh angle is equal to the eighth angle. The first support rod 151 and the second support 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 The fourth horizontal rotating member 92 is fixed to the fourth vertical rotating member 91 , and the first support rod 151 and the second support rod 152 are respectively connected to the fourth horizontal rotating member 92 for rotation. The fourth vertical rotating members 92 are coaxially connected with plane bearings, and the end faces of the two plane bearings connected to the same fourth vertical rotating member 91 that are close to each other are in contact with the upper and lower end faces of the second driving member 52 respectively. The axis of rotation of the first support rod 151 and the second driving member 52 is perpendicular to the line connecting the rotation axis of the second support rod 152 and the second driving member 52 to the second driving member 52 , the first traveling wheel 3 and the second driving member When the traveling wheel 4 is in the inclined state, the distance from the rotation axis of the first support rod 151 and the first steering member 11 to the rotation axis of the second support rod 152 and the second steering member 12, minus the first axis 13 and the second axis The difference in the spacing between The distance of the rotation axis of the steering member 12, minus the difference in the distance between the first axis 13 and the second axis 14. At this time, it is ensured that the distance between the two ends of the third steering member 15 is smaller than the distance between the first axis 13 and the second axis 14 during the turning process of the vehicle, so that the rotation angle of the running wheel located outside the turning outer diameter is smaller, so that the turning of the vehicle is reduced. The process 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 that faces away from the driving direction of the vehicle, and the first support rod 151 is connected to the first steering member. The distance from the rotation axis of 11 to the second support rod 152 and the rotation axis of the second steering member 12 is smaller than the distance between the first axis 13 and the second axis 14 .

The line connecting the rotation axis of the first steering member 13 and the first support rod 151 to the first axis 13 and the angle formed by the first support rod 151 towards the third axis 56 is the fifth angle, and the second steering member 14 and the line connecting the rotation axis of the second support rod 152 to the second axis 14, and the angle formed by the second support rod 152 towards the third axis 56 is the sixth angle, and the first axis 13 to the first support The connecting line between the rod 151 and the rotation axis of the first steering member 11 and the connecting line from the first axis 13 to the third axis 56 form the fifth angle; the second axis 14 to the second support rod 152 and The angle formed by the line connecting the rotation axes of the second steering member 12 and the line connecting the second axis 14 to the third axis 56 is the sixth angle; when the first axis 13 , the second axis 14 and the third axis 56 is in a vertical state, the vertical connection between the first axis 13 and the second axis 14 is perpendicular to the third axis 56 and the second driving member 52, the fifth angle is equal to the sixth angle, and the seventh angle is equal to the eighth angle. The first support rod 151 and the second support 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 The fourth horizontal rotating member 92 is fixed to the fourth vertical rotating member 91 , and the first support rod 151 and the second support rod 152 are respectively connected to the fourth horizontal rotating member 92 for rotation. The fourth vertical rotating members 92 are coaxially connected with plane bearings, and the end faces of the two plane bearings connected to the same fourth vertical rotating member 91 that are close to each other are in contact with the upper and lower end faces of the second driving member 52 respectively. The axis of rotation of the first support rod 151 and the second driving member 52 is perpendicular to the line connecting the rotation axis of the second support rod 152 and the second driving member 52 to the second driving member 52 , the first traveling wheel 3 and the second driving member When the traveling wheel 4 is in the inclined state, the distance from the rotation axis of the first support rod 151 and the first steering member 11 to the rotation axis of the second support rod 152 and the second steering member 12, minus the first axis 13 and the second axis The difference in the spacing between The distance of the rotation axis of the steering member 12, minus the difference in the distance between the first axis 13 and the second axis 14. At this time, it is ensured that the distance between the two ends of the third steering member 15 is smaller than the distance between the first axis 13 and the second axis 14 during the turning process of the vehicle, so that the rotation angle of the running wheel located outside the turning outer diameter is smaller, so that the turning of the vehicle is reduced. The process is more stable.

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 that faces away from the driving direction of the vehicle, and the first support rod 151 is connected to the first steering member. The distance from the rotation axis of 11 to the second support rod 152 and the rotation axis of the second steering member 12 is smaller than the distance between the first axis 13 and the second axis 14 .

The line connecting the rotation axis of the first steering member 13 and the first support rod 151 to the first axis 13 and the angle formed by the first support rod 151 towards the third axis 56 is the fifth angle, and the second steering member 14 and the line connecting the rotation axis of the second support rod 152 to the second axis 14, and the angle formed by the second support rod 152 towards the third axis 56 is the sixth angle, and the first axis 13 to the first support The connecting line between the rod 151 and the rotation axis of the first steering member 11 and the connecting line from the first axis 13 to the third axis 56 form the fifth angle; the second axis 14 to the second support rod 152 and The angle formed by the line connecting the rotation axes of the second steering member 12 and the line connecting the second axis 14 to the third axis 56 is the sixth angle; when the first axis 13 , the second axis 14 and the third axis When the 56 is in a vertical state, the vertical connection line between the first axis 13 and the second axis 14 is perpendicular to the third axis 56 and the second driving member 52, the fifth angle is equal to the sixth angle, and the seventh angle is equal to the first. Eight included angles. The first support rod 151 and the second support 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 The fourth horizontal rotating member 92 is fixed to the fourth vertical rotating member 91 , and the first support rod 151 and the second support rod 152 are respectively connected to the fourth horizontal rotating member 92 for rotation. The fourth vertical rotating members 92 are coaxially connected with plane bearings, and the end faces of the two plane bearings connected to the same fourth vertical rotating member 91 that are close to each other are in contact with the upper and lower end faces of the second driving member 52 respectively. The axis of rotation of the first support rod 151 and the second driving member 52 is perpendicular to the line connecting the rotation axis of the second support rod 152 and the second driving member 52 to the second driving member 52 , the first traveling wheel 3 and the second driving member When the traveling wheel 4 is in the inclined state, the distance from the rotation axis of the first support rod 151 and the first steering member 11 to the rotation axis of the second support rod 152 and the second steering member 12, minus the first axis 13 and the second axis The difference in the spacing between The distance of the rotation axis of the steering member 12, minus the difference in the distance between the first axis 13 and the second axis 14. At this time, it is ensured that the distance between the two ends of the third steering member 15 is smaller than the distance between the first axis 13 and the second axis 14 during the turning process of the vehicle, so that the rotation angle of the running wheel located outside the turning outer diameter is smaller, so that the turning of the vehicle is reduced. The process is more stable.

Embodiment 7, as shown in FIG. 11 , differs from Embodiment 1 in that the third swinging member 23 includes a first swinging rod 231 and a second swinging rod 232 , and one end of the first swinging rod 231 is rotatably connected to the first steering The other end of the second swing rod 232 is rotatably connected to the second steering member 12 , and the other end of the second swing rod 232 is rotatably connected to the sleeve 53 . The fourth swinging member 24 includes a third swinging rod 241 and a fourth swinging rod 242. One end of the third swinging rod 241 is rotatably connected to the first steering member 11, and the other end is rotatably connected to the sleeve 53. One end is rotatably connected to the second steering member 12 , and the other end is rotatably connected to the sleeve 53 . The first rocking rod 231 and the second rocking rod 232 are both located above the third rocking rod 241 and the fourth rocking rod 242 , and the first rocking rod 231 and the second rocking rod 232 are connected together to restrict the first steering member 11 and the second rocking rod 11 . The elastic member 29 of the steering member 12 is rotated upward. The elastic member 29 is a compression spring. One end of the elastic member 29 is rotatably connected to the first swing rod 231 , and the other end of the elastic member 29 is rotatably connected to the second swing member 22 .

The rotation axes of the first rocking rod 231 , the second rocking rod 232 , the third rocking rod 241 , the fourth rocking rod 242 and the sleeve 53 are on the same plane as the third axis 56 . The first rocking rod 231 and the second rocking rod 232 The rotation axis of the sleeve 53 can be coincidently arranged, and the third swing rod 241 and the fourth swing rod 242 are arranged to coincide with the rotation axis of the sleeve 53. At this time, the upward movement of the two traveling wheels does not interfere with each other, so that the vehicle The driving process is more stable.

Embodiment 8, as shown in FIG. 12, differs from Embodiment 7 in that the rotation axes of the first swing rod 531, the second swing rod 532 and the sleeve 53 are separated from each other, and the third swing rod 241 and the fourth swing rod 241 and the fourth swing rod are separated from each other. The axes of rotation of the rod 242 and the sleeve 53 are separated from each other.

Embodiment 9, as shown in FIG. 13 , differs from Embodiment 4 in that the vertical line connecting the rotational positions of the third swinging member 23 and the fourth swinging member 24 and the first swinging member 21 is located on the first axis 13 is far from the side of the first traveling wheel 3, and the vertical line connecting the rotational positions of the third swinging member 23, the fourth swinging member 24 and the second swinging member 22 is located on a side of the second axis 14 away from the second traveling wheel 4. side.

In this embodiment, the rotation axes of the first support rod 151 and the second support rod 152 on the second driving member 52 coincide, or the rotation axes of the first support rod 151 and the second support rod 152 on the second driving member 52 The rotation axes are separated, and the two rotation axes have the same vertical distance from the extension line passing through the third rotation shaft 56 , and are located on two sides of the extension line, respectively. The distance from the rotation axis of the first support rod 151 and the first steering member 11 to the rotation axis of the second support rod 152 and the second steering member 12 is equal to the distance between the first axis 13 and the second axis 14 . When the first traveling wheel 3 and the second traveling wheel 4 swing, since the first axis 13 and the second axis 14 are located on the first swing member 21 , the second swing member 22 , the third swing member 23 and the fourth swing member 24, resulting in a smaller change in the shortened distance between the first traveling wheel 3 and the second traveling wheel 4, so that it is easier to make the first traveling wheel 3 and the second traveling wheel 4 form a direction toward the vehicle. angle.

The embodiments of this specific embodiment are all preferred embodiments of the present application, and do not limit the protection scope of the present application accordingly. Therefore: all equivalent changes made according to the structure, shape and principle of the present application should be covered in within the scope of protection of this application.

Claims (11)

1. A two-wheel linkage mechanism, characterized in that it comprises a steering mechanism (1) and a swing mechanism (2), the steering mechanism (1) comprising,

   The first steering member (11) drives the first traveling wheel (3) to turn along the first axis (13), and the rotation axis of the first traveling wheel (3) is perpendicular to the first axis (13);

   The second steering member (12) drives the second traveling wheel (4) to turn along the second axis (14), and the rotation axis of the second traveling wheel (4) is perpendicular to the second axis (14);

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

   The swing mechanism (2) includes,

   The first swinging member (21) drives the first traveling wheel (3) to incline so that 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) drives the second traveling wheel (4) to incline so that the plane where the second traveling wheel (4) is located forms an acute angle or an obtuse angle with respect to the horizontal plane;

   The third swinging member (23), one end of which is rotatably connected to the first swinging member (21), and the other end of which is rotatably connected to the second swinging member (22); the fourth swinging member (24), one end of which is rotatably connected to the first swinging member (24). A swinging member (21), the other end of which is rotatably connected to the second swinging member (22); the rotational position between the third swinging member (23) and the fourth swinging member (24) and the first swinging member (21) The connection line deviates from the first axis (13);

   The line connecting the rotational positions of the third swinging member (23), the fourth swinging member (24) and the second swinging member (22) is deviated from the second axis (14).
2. A two-wheel linkage mechanism according to claim 1, characterized in that: the linkage mechanism further comprises a driving mechanism (5), and the driving mechanism (5) comprises:

   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);

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

   a sleeve (53), the sleeve (53) is rotatably sleeved outside the first driving member (51);

   The middle parts of the third swing member (23) and the fourth swing member (24) are both rotatably connected to the sleeve (53).
3. A double-wheel linkage mechanism according to claim 1, characterized in that: the first traveling wheel (3) is rotatably connected to the first steering member (11), and the first traveling wheel (3) is connected to the first The connection position of the steering member (11) deviates from the first axis (13), the second traveling wheel (4) is rotatably connected to the second steering member (12), and the second steering member (12) is connected to the second traveling wheel The connection position of (4) is offset from the second axis (14).
4. The double-wheel linkage mechanism according to claim 2, wherein the third swinging member (23) comprises:

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

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

   The fourth swing member (24) includes,

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

   A fourth swing rod (242), one end of the fourth swing rod (242) is rotatably connected to the second steering member (12), and the other end of the fourth swing rod (242) is rotatably connected to the sleeve (53) ;

   The rotation axes of the first rocking rod (231), the second rocking rod (232), the third rocking rod (241), the fourth rocking rod (242) and the sleeve (53) are all the same as the third axis (56) in the same vertical plane;

   The swing mechanism (2) is connected with an elastic member (29) that restricts the upward rotation of the first steering member (11) and the second steering member (12), and one end of the elastic member (29) is connected to the first swing rod (231) or The third swing rod (241) is rotatably connected, and the other end of the elastic member (29) is rotatably connected with the second swing rod (232) or the fourth swing rod (242).
5. The two-wheel linkage mechanism according to claim 1, wherein the third steering member (15) comprises:

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

   A second support rod (152), one end of the second support rod (152) is rotatably connected to the second driving member (52), and the other end of the second support rod (152) is rotatably connected to the second steering member ( 12).
6. A dual-wheel linkage mechanism according to claim 1, characterized in that: the third steering member (15) is connected to the first steering member (11) through a first rotating mechanism (6); The three steering members (15) are connected to the second steering member (12) through the second rotating mechanism (7);

   The first rotation mechanism (6) includes,

   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 rotation mechanism (7) includes,

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

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

   The first support rod (151) and the second support rod (152) are respectively connected with the second driving member (52) through a third rotation mechanism (8), and the third rotation mechanism (8) includes:

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

   The third horizontal rotating member (82) is vertically fixed to the third vertical rotating member (81) and is rotatably connected to the first support rod (151) or the second support rod (152).
7. The double-wheel linkage mechanism according to claim 2, wherein the sleeve (53) is rotatably connected with a connecting piece (54) that connects the first swinging member (21) with the second swinging member (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 located in the sleeve The cylinder (53) is away from the side of the swing mechanism (2).
8. A double-wheel linkage mechanism according to claim 7, characterized in that: bolts ( 25), the bolts (25) are all screwed with nuts (26), the bolts (25) are sleeved with grooved bearings (27), and the outer rings of the grooved bearings (27) are respectively connected to the connecting piece (54), the third swinging member (23) or the fourth swinging member (24) abuts, and the bolts (25) are each sleeved with two anti-locking plane bearings (28), the anti-locking plane bearings (28) ) are respectively located on both sides of the groove bearing (27), and the end faces of the pair of locking plane bearings (28) close to the groove bearing (27) are respectively connected with the connecting piece (54), the third swinging piece (23) or the fourth swinging piece The end face of the piece (24) abuts.
9. The two-wheel linkage mechanism according to any one of claims 1-8, characterized in that: the third steering member (15) is located on the side of the third axis (56) that is close to the driving direction of the vehicle;

   The connection line between the rotational positions of the third swinging member (23), the fourth swinging member (24) and the first swinging member (21) is arranged at a position where the first axis (13) is away from the first traveling wheel (3). one side;

   The connecting line between the rotational positions of the third swinging member (23), the fourth swinging member (24) and the second swinging member (22) is arranged at a position where the second axis (14) is away from the second traveling wheel (4). side.
10. The line connecting the rotation axis of the first steering member (11) and the first support rod (151) to the first axis (13), and the line formed by the first support rod (151) toward the third axis (56) The included angle is the first included angle;

    The line connecting the rotation axis of the second steering member (12) and the second support rod (152) to the second axis (14), and the line formed by the second support rod (152) toward the third axis (56) The included angle is the second included angle;

    The line connecting the first axis (13) to the first strut (151) and the rotation axis of the first steering member (11) is formed with the line connecting the first axis (13) to the third axis (56). The included angle is the third included angle;

    The line connecting the second axis (14) to the second strut (152) and the rotation axis of the second steering member (12) is formed with the line connecting the second axis (14) to the third axis (56) The included angle is the fourth included angle;

    When the first axis (13), the second axis (14) and the third axis (56) are in a vertical state, the vertical lines connecting the first axis (13) and the second axis (14) are all perpendicular to the third axis the axis (56) and the second driving member (52); the first included angle is equal to the second included angle;

    The third angle is equal to the fourth angle;

    When the first travel wheel (3) and the second travel wheel (4) are in an inclined state, the rotation axis of the first support rod (151) and the first steering member (11) reaches the second support rod (152) and the first The distance between the rotation axes of the two steering members (12), minus the difference in the distance between the first axis (13) and the second axis (14), is greater than, the first traveling wheel (3) and the second traveling wheel (4) ) in the vertical state, the distance from the rotation axis of the first support rod (151) and the first steering member (11) to the rotation axis of the second support rod (152) and the second steering member (12), minus, the first The difference in spacing between the first axis (13) and the second axis (14).
11. A two-wheel linkage mechanism according to any one of claims 1-8, characterized in that: the third steering member (15) is located on the side of the third axis (56) away from the direction in which the vehicle is traveling;

    The line connecting the rotation axis of the first steering member (11) and the first support rod (151) to the first axis (13), and the line formed by the first support rod (151) toward the third axis (56) The included angle is the fifth included angle;

    The line connecting the rotation axis of the second steering member (12) and the second support rod (152) to the second axis (14), and the line formed by the second support rod (152) toward the third axis (56) The included angle is the sixth included angle;

    The line connecting the first axis (13) to the first strut (151) and the rotation axis of the first steering member (11) is formed with the line connecting the first axis (13) to the third axis (56). The included angle is the seventh included angle;

    The line connecting the second axis (14) to the second strut (152) and the rotation axis of the second steering member (12) is formed with the line connecting the second axis (14) to the third axis (56) The included angle is the eighth included angle;

    When the first axis (13), the second axis (14) and the third axis (56) are in a vertical state, the vertical lines connecting the first axis (13) and the second axis (14) are all perpendicular to the third axis an axis (56) and a second driving member (52);

    The fifth angle is equal to the sixth angle;

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

    When the first traveling wheel (3) and the second traveling wheel (4) are in an inclined state, the rotation axis of the first support rod (151) and the first steering member (11) reaches the second support rod (152) The distance from the rotation axis of the second steering member (12), minus the difference in the distance between the first axis (13) and the second axis (14), is less than, the first traveling wheel (3) and the second traveling wheel (4) When in the vertical state, the distance from the rotation axis of the first support rod (151) and the first steering member (11) to the rotation axis of the second support rod (152) and the second steering member (12) is less than , the difference in the spacing between the first axis (13) and the second axis (14).

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