CN102941877A - Spatial multi-connecting link closed chain steering mechanism - Google Patents
Spatial multi-connecting link closed chain steering mechanism Download PDFInfo
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- CN102941877A CN102941877A CN2012105289377A CN201210528937A CN102941877A CN 102941877 A CN102941877 A CN 102941877A CN 2012105289377 A CN2012105289377 A CN 2012105289377A CN 201210528937 A CN201210528937 A CN 201210528937A CN 102941877 A CN102941877 A CN 102941877A
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- energy disperser
- swing arm
- suspension
- steering
- slip
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Abstract
The invention discloses a spatial multi-connecting link closed chain steering mechanism. A form of a spatial multi-connecting link structure with a drive motor is adopted; the output torque is improved by combination of the drive motor and a gear and worm speed reducer; reverse interlock is achieved, and an overload buffer is arranged on a steering track rod, so that two working conditions of steering and buffering are considered. The situation that a leaning angle and a steering angle of a wheel in the up and down movement are basically stable is ensured by spatial parallel arrangement of the steering track rod and a hanger bracket, and a steering device can be applied to any vehicle which comprises the hanger bracket and independently steers by the design of a spatial multi-connecting link mechanism and application of a ball joint.
Description
Technical field
The present invention relates to a kind of steering hardware that is applicable to respectively take turns the independent steering vehicle, be particularly suitable for using the small-sized unmanned platform of full electricity.
Background technology
Small-sized unmanned platform improves running efficiency in order to improve road mobility, tends to install additional steering hardware.Traditional wheel steering system adopts the system of left and right wheels interlock, is unfavorable for that platform realizes zero turn radius, the oblique specific function such as travel.Simultaneously, because small-sized unmanned platform generally has suspension system, make the design of steering hardware more complicated.
Summary of the invention
The object of the present invention is to provide a kind of independent steering gear, make this mechanism go for having the independent steering vehicle of suspension system, every cover system has the characteristics of individual drive, reverse self-locking, overload buffer, when the vehicle form of straight lines, suspension up and down in the large stroke motion process wheel turning angle substantially remain unchanged, satisfy the travel needs of vehicle under various complex road conditions.
Technical scheme of the present invention is: a kind of spacing multi-connecting-rod closed chain steering hardware is characterized in that: comprise drive motor and retarder, turbine and worm 2, overload buffer device 3, turn to goat's horn 4, suspension lower swing arm 6 and suspension top link 7; Wherein, drive motor is fixed together by retarder and turbine and worm 2, and drive motor and retarder and turbine and worm are fixed on the car body together; The turbine output shaft of turbine and worm connects and turns to swing arm, turns to swing arm to be connected end with steering track rod by ball pivot and connects, and the overload buffer device is installed in the middle of the steering track rod; The other end of steering track rod by ball pivot be connected goat's horn 4 to connect; Turn to goat's horn one end that wheel 5 is installed, two branches that the other end is drawn by ball pivot are connected with the suspension lower swing arm respectively, suspension top link 7 connects; Suspension lower swing arm 6 is connected with the suspension top link respectively and is connected with car body by a revolute pair.
Suspension top link 7 and suspension lower swing arm 8 are at the installation site keeping parallelism, and the pumping arm action maintenance is isometric, turns to the upper and lower swing arm of torque arm and suspension keeping parallelism when wheel does not turn to.
Described overload buffer device comprises energy disperser sliding bar 11, recoil spring 12, locating dowel pin 13, energy disperser slip cap 14, sliding bar connecting screw hole 15 and slip cap connecting screw hole 18; Wherein, locating dowel pin 13 is fixed on the energy disperser sliding bar 11, and the slip work nest 17 that is provided with slip guide channel 16 on the energy disperser slip cap 14 and parallels with it is connected by a deep-slotted chip breaker between above-mentioned two grooves; Energy disperser sliding bar 11 stretches in the energy disperser slip cap 14, locating dowel pin 13 enters slip work nest 17 by slip guide channel 16, have the recoil spring 12 of certain predetermincd tension to be arranged between energy disperser sliding bar 11 and phase buffer slip cap 14 two end cap, energy disperser sliding bar 11 is connected with the energy disperser slip cap and is connected with turning to torque arm by the screw on its end cap respectively.
Beneficial effect: the present invention uses the spacing multi-connecting-rod design theory generally; adopt the technology such as reverse self-locking device, spacing multi-connecting-rod mechanism, overload buffer device; the version of turbine and worm is adopted in its steering power output; make the reverse input locking of steering hardware; rely on initial stiffness and the physical construction of overload buffer device to guarantee that deflection angle is stable in the motion process, rely on the overload capacity protection turbine and worm of overload buffer device not to be subject to too large impact.Make vehicle run at high speed, by obstacle, clashed into etc. that steering swivel system has good working effect in the situation.
Description of drawings
Fig. 1 is schematic diagram of the present invention;
Fig. 2 is overload buffer device structure principle chart.
Among the figure: 1. drive motor and retarder, 2. turbine and worm, 3. the overload buffer device 4. turns to goat's horn, 5. wheel, 6. suspension lower swing arm, 7. suspension top link;
11. the energy disperser sliding bar, 12. recoil springs, 13. locating dowel pins, 14. energy disperser slip caps, 15. sliding bar connecting screw holes, 16. slip guide channels, 17. slip work nests, 18. slip cap connecting screw holes
The specific embodiment
The present invention is further described below in conjunction with drawings and Examples.
Spacing multi-connecting-rod closed chain steering hardware as shown in Figure 1 comprises drive motor and retarder 1, turbine and worm 2, overload buffer device 3, turns to goat's horn 4, suspension lower swing arm 6 and suspension top link 7;
Drive motor and retarder 1 and turbine and worm 2 are fixed together by connecting device, and drive motor and retarder 1 and turbine and worm 2 are fixed on the car body together; The turbine output shaft A connection of turbine and worm 2 turns to swing arm AB, turns to swing arm AB to be connected with steering track rod BC by swivel coupling, in the middle of the steering track rod overload buffer device is installed, in order to cushion the impulsive force of vehicle when being subject to impacting; The terminal C of steering track rod by swivel coupling be connected goat's horn 4 to connect; Turn to goat's horn one end to be installed on the wheel 5, wheel can rotate around it, turn to two branches that the goat's horn other end draws respectively by ball pivot are connected with the suspension lower swing arm, suspension top link 7 connects; Suspension lower swing arm 6 is connected with the suspension top link and is connected with car body by revolute pair F, G.
In the design and installation process, each wheel respectively connects a steering hardware of the present invention, and keep substantially constant in order to reach wheel up-and-down movement deflection angle, need to reach following two requirements: suspension top link 7 and lower swing arm 8 turn to torque arm BC and suspension swing arm keeping parallelism when wheel does not turn at the installation site keeping parallelism.
Drive motor is fixed on the vehicle body, drive motor is connected with turbine and worm by speed reduction gearing, turbine and worm plays the function of deceleration and reverse self-locking, the turbine and worm mouth connects the wheel steering goat's horn by the ball pivot connection space steering track rod in the swing arm on the steering track rod of space after installing overload buffer device additional.The wheel steering goat's horn is connected with the suspension lower swing arm by swivel coupling.
The specific works process is: vehicle is when straight-line travelling, when wheel 5 is subject to the ground shock up-and-down movement, turn to goat's horn 4 with the wheel up-and-down movement with wheel 5 is fixed together, at this moment, suspension top link 7, lower swing arm 8 will rotate around revolute pair F, G respectively, turn to torque arm BC to rotate around ball pivot B, by aforesaid installation requirement as can be known, at this moment, turn to goat's horn corner in the up-and-down movement process substantially to keep motionless.When Vehicular turn, rotation by control steer motor 1, the turbine output shaft that drives turbine and worm 2 rotates, at this moment, the swing arm AB that turns to that connects of being connected with turbine and worm will move in a circle around the A point, drive turns to torque arm BC the seesawing of locus, and turns to goat's horn 4 to walk around the turning cylinder that ball pivot contact D, E form to rotate, realize turning to of wheel thereby drive.
As shown in Figure 2, the overload buffer device comprises energy disperser sliding bar 11, recoil spring 12, locating dowel pin 13, energy disperser slip cap 14, sliding bar connecting screw hole 15, slip work nest 17, slip cap connecting screw hole 18; Locating dowel pin 13 is fixed on the energy disperser sliding bar 11, and the slip work nest 17 that is provided with slip guide channel 16 on the energy disperser slip cap 14 and parallels with it is connected by a deep-slotted chip breaker between above-mentioned two grooves; During assembling, energy disperser sliding bar 11 stretches in the energy disperser slip cap 14, locating dowel pin 13 enters slip work nest 17 by slip guide channel 16, the recoil spring 12 that will form simultaneously certain predetermincd tension is pressed between energy disperser sliding bar 11 and phase buffer slip cap 14 two end cap, and the overload buffer device is connected with the slip cap connecting screw hole by the sliding bar connecting screw hole 15 at two ends and is connected with the torque arm BC that turns among Fig. 1.Overload buffer device 3 is incompressible state in setting threshold, can be at the certain stroke of effect lower compression of pressure above behind the setting threshold.
Claims (3)
1. a spacing multi-connecting-rod closed chain steering hardware is characterized in that: comprise drive motor and retarder, turbine and worm (2), overload buffer device (3), turn to goat's horn (4), suspension lower swing arm (6) and suspension top link (7); Wherein, drive motor is fixed together by retarder and turbine and worm (2), and drive motor and retarder and turbine and worm are fixed on the car body together; The turbine output shaft of turbine and worm connects and turns to swing arm, turns to swing arm to be connected end with steering track rod by ball pivot and connects, and the overload buffer device is installed in the middle of the steering track rod; The other end of steering track rod by ball pivot be connected goat's horn (4) to connect; Turn to goat's horn one end to be installed on the wheel (5), two branches that the other end is drawn are connected 6 by ball pivot with the suspension lower swing arm respectively), suspension top link (7) connects; Suspension lower swing arm (6) is connected 7 with the suspension top link) respectively be connected with car body by a revolute pair.
2. a kind of spacing multi-connecting-rod closed chain steering hardware according to claim 1, it is characterized in that: suspension top link (7) and suspension lower swing arm (8) are at the installation site keeping parallelism, and it is isometric that pumping arm action keeps, and turns to the upper and lower swing arm of torque arm and suspension keeping parallelism when wheel does not turn to.
3. a kind of spacing multi-connecting-rod closed chain steering hardware according to claim 1 and 2, it is characterized in that: described overload buffer device comprises energy disperser sliding bar (11), recoil spring (12), locating dowel pin (13), energy disperser slip cap (14), sliding bar connecting screw hole (15) and slip cap connecting screw hole (18); Wherein, locating dowel pin (13) is fixed on the energy disperser sliding bar (11), the slip work nest (17) that is provided with slip guide channel (16) on the energy disperser slip cap (14) and parallels with it is connected by a deep-slotted chip breaker between above-mentioned two grooves; Energy disperser sliding bar (11) stretches in the energy disperser slip cap (14), locating dowel pin (13) enters slip work nest (17) by slip guide channel (16), have the recoil spring (12) of certain predetermincd tension to be arranged between energy disperser sliding bar (11) and phase buffer slip cap (14) two end cap, energy disperser sliding bar (11) is connected 14 with the energy disperser slip cap) be connected with turning to torque arm by the screw on its end cap respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012105289377A CN102941877A (en) | 2012-12-04 | 2012-12-04 | Spatial multi-connecting link closed chain steering mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012105289377A CN102941877A (en) | 2012-12-04 | 2012-12-04 | Spatial multi-connecting link closed chain steering mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102941877A true CN102941877A (en) | 2013-02-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2012105289377A Pending CN102941877A (en) | 2012-12-04 | 2012-12-04 | Spatial multi-connecting link closed chain steering mechanism |
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| CN (1) | CN102941877A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105927734A (en) * | 2016-06-29 | 2016-09-07 | 中国北方车辆研究所 | High and low speed conversion clutch operating mechanism used for axle gear box |
| CN108116491A (en) * | 2018-02-05 | 2018-06-05 | 常州格力博有限公司 | Steering and Straddle riding type garden instrument |
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| JPS6060072A (en) * | 1983-09-12 | 1985-04-06 | Mazda Motor Corp | Steering system for car |
| CN1241499A (en) * | 1999-06-18 | 2000-01-19 | 刘惠清 | Automobile with the functions of car, boat and sledge |
| CN1292331A (en) * | 2000-07-12 | 2001-04-25 | 刘惠清 | Automobile with all road conditions |
| CN2710999Y (en) * | 2004-07-29 | 2005-07-20 | 上海燃料电池汽车动力***有限公司 | Carbon driving, double-arms and independent steering device |
| CN2776794Y (en) * | 2004-12-07 | 2006-05-03 | 青岛方正机械有限公司 | New type automobile bridge damping steering mechanism |
| CN101101054A (en) * | 2006-07-05 | 2008-01-09 | 株式会社万都 | Electronic power steering apparatus |
| CN201148172Y (en) * | 2007-12-18 | 2008-11-12 | 张维学 | Two-point traction steering mechanism of motor vehicle |
| CN101428639A (en) * | 2007-11-06 | 2009-05-13 | 本田技研工业株式会社 | Electric power steering device |
| CN201415706Y (en) * | 2009-01-22 | 2010-03-03 | 上海锦奔汽车***有限公司 | Steering system for air independent suspension |
| CN101875369A (en) * | 2009-04-30 | 2010-11-03 | 浙江关西电机有限公司 | Servo power-assisting steering system and a method for controlling same |
| CN101973307A (en) * | 2010-10-19 | 2011-02-16 | 吉林大学 | Main pin zero bias wire-controlled independent driven and steering automobile running mechanism and electric vehicle |
| CN102167077A (en) * | 2011-03-18 | 2011-08-31 | 华南理工大学 | Active steering device for vehicles |
| CN102180194A (en) * | 2011-04-28 | 2011-09-14 | 南京航空航天大学 | Adaptive steering system of timely four-wheel drive electric wheel automobile and control method thereof |
| CN102666252A (en) * | 2009-12-24 | 2012-09-12 | 本田技研工业株式会社 | Shock absorbing device for rack-and-pinion type steering mechanism |
-
2012
- 2012-12-04 CN CN2012105289377A patent/CN102941877A/en active Pending
Patent Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6060072A (en) * | 1983-09-12 | 1985-04-06 | Mazda Motor Corp | Steering system for car |
| CN1241499A (en) * | 1999-06-18 | 2000-01-19 | 刘惠清 | Automobile with the functions of car, boat and sledge |
| CN1292331A (en) * | 2000-07-12 | 2001-04-25 | 刘惠清 | Automobile with all road conditions |
| CN2710999Y (en) * | 2004-07-29 | 2005-07-20 | 上海燃料电池汽车动力***有限公司 | Carbon driving, double-arms and independent steering device |
| CN2776794Y (en) * | 2004-12-07 | 2006-05-03 | 青岛方正机械有限公司 | New type automobile bridge damping steering mechanism |
| CN101101054A (en) * | 2006-07-05 | 2008-01-09 | 株式会社万都 | Electronic power steering apparatus |
| CN101428639A (en) * | 2007-11-06 | 2009-05-13 | 本田技研工业株式会社 | Electric power steering device |
| CN201148172Y (en) * | 2007-12-18 | 2008-11-12 | 张维学 | Two-point traction steering mechanism of motor vehicle |
| CN201415706Y (en) * | 2009-01-22 | 2010-03-03 | 上海锦奔汽车***有限公司 | Steering system for air independent suspension |
| CN101875369A (en) * | 2009-04-30 | 2010-11-03 | 浙江关西电机有限公司 | Servo power-assisting steering system and a method for controlling same |
| CN102666252A (en) * | 2009-12-24 | 2012-09-12 | 本田技研工业株式会社 | Shock absorbing device for rack-and-pinion type steering mechanism |
| CN101973307A (en) * | 2010-10-19 | 2011-02-16 | 吉林大学 | Main pin zero bias wire-controlled independent driven and steering automobile running mechanism and electric vehicle |
| CN102167077A (en) * | 2011-03-18 | 2011-08-31 | 华南理工大学 | Active steering device for vehicles |
| CN102180194A (en) * | 2011-04-28 | 2011-09-14 | 南京航空航天大学 | Adaptive steering system of timely four-wheel drive electric wheel automobile and control method thereof |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105927734A (en) * | 2016-06-29 | 2016-09-07 | 中国北方车辆研究所 | High and low speed conversion clutch operating mechanism used for axle gear box |
| CN105927734B (en) * | 2016-06-29 | 2020-08-18 | 中国北方车辆研究所 | High-low speed conversion clutch control mechanism for axle gear box |
| CN108116491A (en) * | 2018-02-05 | 2018-06-05 | 常州格力博有限公司 | Steering and Straddle riding type garden instrument |
| CN108116491B (en) * | 2018-02-05 | 2024-05-17 | 格力博(江苏)股份有限公司 | Steering system and riding type garden tool |
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Application publication date: 20130227 |