CN111572626A - Steering and suspension integrated system of unmanned vehicle - Google Patents
Steering and suspension integrated system of unmanned vehicle Download PDFInfo
- Publication number
- CN111572626A CN111572626A CN202010403136.2A CN202010403136A CN111572626A CN 111572626 A CN111572626 A CN 111572626A CN 202010403136 A CN202010403136 A CN 202010403136A CN 111572626 A CN111572626 A CN 111572626A
- Authority
- CN
- China
- Prior art keywords
- steering
- template
- unmanned vehicle
- connecting rod
- wheels
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G13/00—Resilient suspensions characterised by arrangement, location or type of vibration dampers
- B60G13/001—Arrangements for attachment of dampers
- B60G13/005—Arrangements for attachment of dampers characterised by the mounting on the axle or suspension arm of the damper unit
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/20—Links, e.g. track rods
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention relates to an unmanned vehicle steering and suspension integrated system which comprises two wheels which are oppositely arranged, wherein a rigid beam is arranged between the two wheels, steering mechanisms are respectively arranged at two ends of the rigid beam, the two wheels are respectively connected with the steering mechanisms at the two ends in a rotating supporting manner, a steering motor mounting plate is fixedly mounted on the rigid beam, a steering motor is arranged on the steering motor mounting plate, the steering motor is in transmission connection with a steering connecting rod, the steering connecting rod can slide left and right relative to the steering motor mounting plate under the driving action of the steering motor, and two ends of the steering connecting rod are respectively hinged with the two steering mechanisms. The invention has the characteristics of high direction control precision, stability, reliability and the like when the unmanned vehicle jolts.
Description
Technical Field
The invention relates to an unmanned vehicle steering and suspension integrated system, and belongs to the technical field of unmanned vehicles.
Background
A steering system and a suspension system of a conventional vehicle are two independent systems without rigid connection, and uncontrollable pulling force and displacement exist between wheels and a steering engine under the condition that the wheels are bumpy, so that the phenomena of deviation and shaking of the direction control of the vehicle are caused, but the phenomena can be corrected through manual control.
On the unmanned vehicle, the steering system and the suspension system are obviously not suitable, and if the unmanned vehicle deviates and shakes, the driving direction of the wheels of the unmanned vehicle is interfered, so that the driving direction of the unmanned vehicle deviates, the accuracy of the transportation route of the unmanned vehicle is affected, and even when the unmanned vehicle jolts seriously, the unmanned vehicle can overturn.
Disclosure of Invention
The invention aims to provide an unmanned vehicle steering and suspension integrated system, which solves the problems of deviation, shaking and the like of direction control when an unmanned vehicle jolts in the prior art.
The technical purpose of the invention is mainly solved by the following technical scheme: an unmanned vehicle steering and suspension integrated system comprises two wheels which are oppositely arranged, a rigid beam is arranged between the two wheels, steering mechanisms are respectively arranged at two ends of the rigid beam, the two wheels are respectively connected with the steering mechanisms at the two ends in a rotating supporting manner, a steering motor mounting plate is fixedly mounted on the rigid beam, a steering motor is arranged on the steering motor mounting plate, the steering motor is in transmission connection with a steering connecting rod, the steering connecting rod can slide left and right relative to the steering motor mounting plate under the driving action of the steering motor, and two ends of the steering connecting rod are respectively hinged with the two steering mechanisms; through the setting of above-mentioned rigid beam, make suspension and a steering system can link together, thereby suspension and a steering system can realize the integration, the control intensity of a steering system to the wheel has been strengthened, uncontrollable direction deviation has been avoided appearing under the wheel state of jolting, influence the precision of the route of traveling of wheel, thereby realize the high accuracy direction control under the arbitrary state of traveling of unmanned car, through the setting of above-mentioned steering linkage, make a steering system can realize the steering control to the wheel through the steering linkage, suspension and a steering system's integration effect has been guaranteed, steering system has been strengthened to the control accuracy who turns to with the wheel.
Preferably, the steering mechanism comprises a fixed shaft fixedly arranged at the axle center of the wheel and a first U-shaped plate arranged on the fixed shaft, two ends of the rigid beam are respectively provided with a second U-shaped plate matched with the first U-shaped plate, the first U-shaped plate is rotatably connected with the second U-shaped plate through a rotating shaft, and the width of the first U-shaped plate is larger than that of the second U-shaped plate; through the setting of above-mentioned first U template and second U template for above-mentioned wheel can realize turning to of wheel when guaranteeing to be connected with the rigid beam, and to the width setting of first U template and second U template, can increase the rotation angle of second U template, thereby increases the rotation angle of wheel, increases unmanned car's the flexibility that turns to.
Preferably, two side walls of the first U-shaped plate and two side walls of the second U-shaped plate are arranged in an up-down structure, and two ends of the rotating shaft respectively penetrate through two side walls of the first U-shaped plate and are respectively connected with two side walls of the second U-shaped plate; through the setting to the rotation axis for above-mentioned first U template and second U template can rotate relatively, and increases the structure holding power when rotatory, guarantees the stability of structure.
Preferably, a first steering connecting arm and a second steering connecting arm are respectively arranged on two sides of the first U-shaped plate, two ends of each steering connecting rod are respectively hinged with the first steering connecting arms, and two ends of each second steering connecting arm are respectively hinged with two ends of each steering pull rod; through the setting of above-mentioned first steering linking arm and second steering linking arm for two wheels can be connected respectively to steering linkage and steering linkage, thereby can carry out more reliable steering control to the wheel, and steering linkage can increase the steering control nature to the wheel, improves the stability that turns to of wheel.
Preferably, a suspension system connected with the frame of the unmanned vehicle is fixedly arranged on the rigid beam; through above-mentioned suspension's setting, can guarantee the shock attenuation protection to unmanned car, the state of jolting of furthest reduction unmanned car, and be connected the back with the rigid beam, can play the effect of moving away to avoid possible earthquakes to unmanned car's whole, improve the effect of moving away to avoid possible earthquakes, reduce the shake when unmanned car jolts.
Preferably, a sleeve is fixedly arranged at the bottom of the steering motor mounting plate, and the steering connecting rod penetrates through the sleeve; through the matching arrangement of the sleeve and the steering connecting rod, the steering connecting rod can be in tight and stable transmission connection with the steering motor and can reciprocate on the sleeve, so that the steering control of the wheels is realized.
Preferably, two ends of each of the two steering connecting rods and the two ends of each of the two steering connecting rods are respectively provided with a connecting part, each connecting part is provided with a hollow ball capable of freely rotating, two opposite sides of each hollow ball are provided with openings for a pivot to pass through, and the first steering connecting arm and the second steering connecting arm are provided with holes corresponding to the openings; through the setting of above-mentioned connecting portion and clean shot for the rotation can be realized through the clean shot to the both ends of steering linkage and steering linkage when connecting, increases the flexibility of junction, makes the structure nimble more reliable, and when guaranteeing joint strength, can realize the rotation of connecting rod between first U template and steering linkage.
Therefore, the invention has the characteristics of high direction control precision, stability, reliability and the like when the unmanned vehicle jolts.
Drawings
Fig. 1 is a perspective view of the present invention.
Detailed Description
The technical scheme of the invention is further specifically described by the following embodiments and the accompanying drawings.
As shown in figure 1, the steering and suspension integrated system of the unmanned vehicle comprises two wheels 1 which are oppositely arranged, a rigid beam 12 is arranged between the two wheels 1, steering mechanisms 13 are respectively arranged at two ends of the rigid beam 12, the two wheels 1 are respectively connected with the steering mechanisms 13 at the two ends in a rotating and supporting manner, a steering motor mounting plate 121 is fixedly arranged on the rigid beam 12, a steering motor 122 is arranged on the steering motor mounting plate 121, the steering motor 122 is in transmission connection with a steering connecting rod 14, the steering connecting rod 14 can slide left and right relative to the steering motor mounting plate 121 under the driving action of the steering motor 122, two ends of the steering connecting rod 14 are respectively hinged with the two steering mechanisms 13, through the arrangement of the rigid beam, the suspension system and the steering system can be connected together, the suspension system and the steering system can be integrated, and the control strength of the steering system on the wheels is enhanced, the problem that uncontrollable direction deviation occurs under the condition that wheels bump to influence the accuracy of a running route of the wheels is solved, so that high-accuracy direction control of the unmanned vehicle under any running condition is realized, and through the arrangement of the steering connecting rod, a steering system can realize steering control of the wheels through the steering connecting rod, so that the integrated effect of a suspension system and the steering system is ensured, and the control accuracy of the steering system on steering with the wheels is enhanced; the bottom of the steering motor mounting plate 121 is fixedly provided with a sleeve 124, the steering connecting rod 14 penetrates through the sleeve 124, and the steering connecting rod can be closely and stably in transmission connection with the steering motor and can reciprocate on the sleeve through the matching arrangement of the sleeve and the steering connecting rod, so that the steering control of the wheels is realized; the rigid beam 12 is fixedly provided with a suspension system 16 connected with the frame of the unmanned vehicle, and the suspension system can ensure the shock absorption protection of the unmanned vehicle, reduce the bumping state of the unmanned vehicle to the maximum extent, and can play a shock absorption role on the whole unmanned vehicle after being connected with the rigid beam, improve the shock absorption effect and reduce the shaking of the unmanned vehicle when bumping.
When the steering motor is started, the steering connecting rod can be driven to reciprocate left and right in the sleeve, the steering connecting rod drives the wheels to rotate left and right to achieve steering, the wheels rotate left and right, the steering pull rod also reciprocates along with the steering pull rod, the steering and suspension integrated system can be arranged between the front wheels and the rear wheels of the unmanned vehicle, the rigid beam is used for connecting the suspension mechanism and the steering mechanism to form a whole, the wheels are connected with the frame through suspension, and the two wheels and the suspension steering form a whole.
As shown in fig. 1, the steering mechanism 13 includes a fixed shaft 131 fixedly disposed at the axis of the wheel 1 and a first U-shaped plate 132 disposed on the fixed shaft 131, two ends of the rigid beam 12 are respectively provided with a second U-shaped plate 123 matched with the first U-shaped plate 132, the first U-shaped plate 132 is rotatably connected with the second U-shaped plate 123 through a rotating shaft 133, the width of the first U-shaped plate 132 is greater than that of the second U-shaped plate 123, the wheel can be steered while ensuring connection with the rigid beam through the arrangement of the first U-shaped plate and the second U-shaped plate, and the turning angle of the second U-shaped plate can be increased for the arrangement of the widths of the first U-shaped plate and the second U-shaped plate, so as to increase the turning angle of the wheel and increase the steering flexibility of the unmanned vehicle; the two side walls of the first U-shaped plate 132 and the second U-shaped plate 123 are arranged in an up-down structure, the two ends of the rotating shaft 133 respectively penetrate through the two side walls of the first U-shaped plate 131 and are respectively connected with the two side walls of the second U-shaped plate 123, so that the first U-shaped plate and the second U-shaped plate can rotate relatively through the arrangement of the rotating shaft, the structural supporting force during rotation is increased, and the structural stability is ensured; first U-shaped board 132's both sides are equipped with first steering link arm 134 and second respectively and turn to link arm 135, turn to the both ends of connecting rod 14 and articulate with first steering link arm 134 respectively, two seconds turn to the both ends of link arm 135 and articulate with the both ends of turning to tie rod 15 respectively, turn to the setting of link arm through above-mentioned first steering link arm and second, make to turn to the connecting rod and turn to the tie rod and can connect two wheels respectively, thereby can carry out more reliable steering control to the wheel, it can increase the steering control nature to the wheel to turn to the tie rod, the stability that turns to of wheel is improved.
As shown in fig. 1, two ends of the steering link 14 and the steering link 15 are respectively provided with a connecting portion 141, the connecting portion 141 is provided with a hollow sphere 142 capable of freely rotating, two opposite sides of the hollow sphere 142 are provided with an opening 143 for a pivot to pass through, the first steering link arm 134 and the second steering link arm 135 are both provided with holes corresponding to the opening 143, through the arrangement of the connecting portion and the hollow sphere, the two ends of the steering link and the steering link can rotate through the hollow sphere when being connected, so that the flexibility of the connecting portion is increased, the structure is more flexible and reliable, the connecting strength is ensured, the connecting rod can rotate between the first U-shaped plate and the steering link, the steering link and the steering link synchronously reciprocate, and the wheels are controlled in a steering manner.
Claims (7)
1. The utility model provides an unmanned vehicles steering and suspension integrated system, includes two relative wheels (1) that set up, its characterized in that: be equipped with rigid beam (12) between two wheels (1), the both ends of rigid beam (12) are provided with steering mechanism (13) respectively, two wheels (1) are connected with steering mechanism (13) the rotation support at both ends respectively, the installation is fixed with steering motor mounting panel (121) on rigid beam (12), be provided with on steering motor mounting panel (121) and turn to motor (122), steering motor (122) are connected with steering connecting rod (14) transmission, under the driving action that turns to motor (122) steering connecting rod (14) can for steering motor mounting panel (121) horizontal slip, the both ends that turn to connecting rod (14) are articulated with two steering mechanism (13) respectively.
2. The integrated unmanned vehicle steering and suspension system according to claim 1, wherein: steering mechanism (13) are including setting firmly fixed axle (131) of wheel (1) axle center department and locating first U template (132) on fixed axle (131), the both ends of rigid beam (12) are equipped with respectively with first U template (132) matched with second U template (123), first U template (132) are connected with second U template (123) rotation through rotation axis (133), the width of first U template (132) is greater than the width of second U template (123).
3. The integrated unmanned vehicle steering and suspension system according to claim 2, wherein: the both sides wall of first U template (132) and second U template (123) all is the structure setting of one-on-one, the both ends of rotation axis (133) pass the both sides wall of first U template (132) respectively and be connected respectively with the both sides wall of second U template (123).
4. The integrated unmanned vehicle steering and suspension system according to claim 2, wherein: the both sides of first U template (132) are equipped with first steering link arm (134) and second respectively and turn to link arm (135), the both ends that turn to connecting rod (14) are articulated with first steering link arm (134) respectively, the both ends that two seconds turned to link arm (135) are articulated with the both ends that turn to pull rod (15) respectively.
5. The integrated unmanned vehicle steering and suspension system according to claim 1, wherein: and a suspension system (16) connected with the frame of the unmanned vehicle is fixedly arranged on the rigid beam (12).
6. The integrated unmanned vehicle steering and suspension system according to claim 1, 2 or 4, wherein: the bottom of the steering motor mounting plate (121) is fixedly provided with a sleeve (124), and the steering connecting rod (14) penetrates through the sleeve (124).
7. The integrated unmanned vehicle steering and suspension system according to claim 4, wherein: connecting portions (141) are respectively arranged at two ends of the steering connecting rod (14) and the steering pull rod (15), hollow balls (142) capable of rotating freely are arranged on the connecting portions (141), openings (143) for the pivots to penetrate are formed in two opposite sides of the hollow balls (142) in a penetrating mode, and holes corresponding to the openings (143) are formed in the first steering connecting arm (134) and the second steering connecting arm (135).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010403136.2A CN111572626A (en) | 2020-05-13 | 2020-05-13 | Steering and suspension integrated system of unmanned vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010403136.2A CN111572626A (en) | 2020-05-13 | 2020-05-13 | Steering and suspension integrated system of unmanned vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111572626A true CN111572626A (en) | 2020-08-25 |
Family
ID=72122926
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010403136.2A Pending CN111572626A (en) | 2020-05-13 | 2020-05-13 | Steering and suspension integrated system of unmanned vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111572626A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4972914A (en) * | 1987-05-13 | 1990-11-27 | Honda Giken Kogyo Kabushiki Kaisha | Automatic road wheel steering system |
| DE10229161A1 (en) * | 2001-09-11 | 2003-04-10 | Hyundai Motor Co Ltd | Vehicle suspension layout, has steering apparatus assembly and sub-frame integrated in single structure that converts rectilinear motions to corresponding rotational movements |
| CN110962923A (en) * | 2019-11-13 | 2020-04-07 | 北京建筑大学 | All-terrain suspension steering device |
| CN110979464A (en) * | 2019-12-17 | 2020-04-10 | 青岛钢铁侠科技有限公司 | Drive-by-wire chassis for unmanned driving field |
| CN111016562A (en) * | 2020-01-29 | 2020-04-17 | 洛阳智能农业装备研究院有限公司 | Independent suspension device of manned trolley |
| CN210478811U (en) * | 2019-09-27 | 2020-05-08 | 成都坦途智行科技有限公司 | Front axle steering device for unmanned vehicle |
| CN111114641A (en) * | 2020-01-19 | 2020-05-08 | 广东玛西尔电动科技有限公司 | Electric vehicle chassis and unmanned electric vehicle |
-
2020
- 2020-05-13 CN CN202010403136.2A patent/CN111572626A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4972914A (en) * | 1987-05-13 | 1990-11-27 | Honda Giken Kogyo Kabushiki Kaisha | Automatic road wheel steering system |
| DE10229161A1 (en) * | 2001-09-11 | 2003-04-10 | Hyundai Motor Co Ltd | Vehicle suspension layout, has steering apparatus assembly and sub-frame integrated in single structure that converts rectilinear motions to corresponding rotational movements |
| CN210478811U (en) * | 2019-09-27 | 2020-05-08 | 成都坦途智行科技有限公司 | Front axle steering device for unmanned vehicle |
| CN110962923A (en) * | 2019-11-13 | 2020-04-07 | 北京建筑大学 | All-terrain suspension steering device |
| CN110979464A (en) * | 2019-12-17 | 2020-04-10 | 青岛钢铁侠科技有限公司 | Drive-by-wire chassis for unmanned driving field |
| CN111114641A (en) * | 2020-01-19 | 2020-05-08 | 广东玛西尔电动科技有限公司 | Electric vehicle chassis and unmanned electric vehicle |
| CN111016562A (en) * | 2020-01-29 | 2020-04-17 | 洛阳智能农业装备研究院有限公司 | Independent suspension device of manned trolley |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR100221682B1 (en) | Independent suspended type suspension for a steering wheel | |
| GB2154966A (en) | Suspension arrangement for driven wheels | |
| US20190126980A1 (en) | Steerable knuckle | |
| AU7223387A (en) | Sliding suspension for wheeled vehicles | |
| CN206587404U (en) | Telecar and its tailstock arrangement for adjusting height | |
| CA1070567A (en) | Railway transit rail car with center axle steering | |
| CN106891680A (en) | Telecar and its headstock bouncer | |
| CN111572626A (en) | Steering and suspension integrated system of unmanned vehicle | |
| CN209870097U (en) | Electric automobile | |
| EP1215105B1 (en) | Traction apparatus of trailer | |
| US6102419A (en) | Suspension system for electric car | |
| CN107902007B (en) | Rocker arm type suspension mechanism of high-stability walking box body | |
| US4283074A (en) | Narrow track economy motor vehicle | |
| CN112572088B (en) | Wheel tread adjustable all-wheel steering robot chassis | |
| JPS61226301A (en) | Track-control device for vehicles | |
| EP1078622B1 (en) | Undercarriage for a vehicle, and wheelchair provided with such undercarriage | |
| CN106621361A (en) | Remote control car having diverse playing methods | |
| JP2753790B2 (en) | Multi-link suspension | |
| EP0253848B1 (en) | Forwarder | |
| CN206589601U (en) | Telecar and its headstock bouncer | |
| CN208855351U (en) | Automotive suspension and automobile | |
| CN206587405U (en) | Style playing method telecar | |
| SU1049323A1 (en) | Device for controlling wheels of vehicle semitrailer | |
| CN218616848U (en) | Steering transmission mechanism and automobile | |
| CN219565372U (en) | Liftable bassinet linkage |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200825 |
|
| RJ01 | Rejection of invention patent application after publication |