CN114194039A - Heavy-load explosion-proof full-steering vehicle and control method - Google Patents
Heavy-load explosion-proof full-steering vehicle and control method Download PDFInfo
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- CN114194039A CN114194039A CN202111625625.3A CN202111625625A CN114194039A CN 114194039 A CN114194039 A CN 114194039A CN 202111625625 A CN202111625625 A CN 202111625625A CN 114194039 A CN114194039 A CN 114194039A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
- B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
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- 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
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
- B62D5/061—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle provided with effort, steering lock, or end-of-stroke limiters
-
- 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
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
- B62D5/062—Details, component parts
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- 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
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
- B62D5/20—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle specially adapted for particular type of steering gear or particular application
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Power Engineering (AREA)
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention discloses a heavy-load explosion-proof full-steering vehicle and a control method, and relates to the technical field of explosion-proof vehicles, wherein the vehicle comprises a vehicle frame, a support bracket, a lifting workbench, a turntable assembly and a wheel assembly; the two ends of the top of the frame are respectively provided with one support bracket, and the lifting workbench and the turntable assembly are arranged between the two support brackets on the top of the frame; and a plurality of wheel assemblies are arranged on two sides of the bottom of the frame. The control method comprises a straight mode, a pivot steering mode, a diagonal mode, a splayed mode and a transverse mode. According to the heavy-load explosion-proof full-steering vehicle and the control method, the wheel assembly at the lower part of the vehicle frame is of a four-shaft eight-wheel structure, so that the ground pressure bearing is greatly reduced, the bearing capacity is better, and the operation can be carried out in a narrow workshop passage; the vehicle-mounted special tool equipment can be guaranteed, installed, debugged and operated; the support bracket can be disassembled, so that the support bracket can be conveniently replaced according to different workpieces.
Description
Technical Field
The invention relates to the technical field of explosion-proof vehicles, in particular to a heavy-load explosion-proof full-steering vehicle and a control method.
Background
(Automated Guided Vehicle, AGV), also commonly referred to as an AGV. The present invention relates to a transport vehicle equipped with an electromagnetic or optical automatic navigation device, capable of traveling along a predetermined navigation route, and having safety protection and various transfer functions. The industrial application does not need a driver's transport vehicle, and a rechargeable storage battery is used as a power source of the industrial application. Generally, the traveling path and behavior can be controlled by a computer, or the traveling path is set up by using an electromagnetic path (electromagnetic path-following system), the electromagnetic path is adhered to the floor, and the unmanned transport vehicle moves and operates according to the information brought by the electromagnetic path.
The existing AGV trolley has small load capacity and is not flexible enough in steering, so that a steering wheel with large load capacity and flexible steering is urgently needed, and a corresponding control method is provided so as to improve the carrying capacity and the steering flexibility of the AGV trolley.
Disclosure of Invention
In order to solve the technical problems, the invention provides a heavy-load explosion-proof full-steering vehicle and a control method thereof, which meet the design requirements of no pollution and explosion prevention in a factory on the premise of realizing large load capacity.
In order to achieve the purpose, the invention provides the following scheme:
the invention provides a heavy-load explosion-proof full-steering vehicle and a control method, wherein the heavy-load explosion-proof full-steering vehicle comprises a vehicle frame, a supporting bracket, a lifting workbench, a turntable assembly and a wheel assembly; the two ends of the top of the frame are respectively provided with one support bracket, and the lifting workbench and the turntable assembly are arranged between the two support brackets on the top of the frame; and a plurality of wheel assemblies are arranged on two sides of the bottom of the frame.
Optionally, a set of sliding grooves are respectively formed in two ends of the top of the frame, and the supporting bracket is slidably arranged on the sliding grooves.
Optionally, a foldable drawing ladder is arranged on one side of the frame.
Optionally, the turntable assembly comprises a bracket, a swivel base, a bearing, a gear, a tool turntable and a driving speed reduction mechanism; the bracket is connected with the frame, the swivel mount is arranged on the bracket, the bottom surface of the bearing inner ring is connected with the top surface of the swivel mount, the gear is sleeved on the bearing outer ring, the gear is in transmission connection with the driving speed reducing mechanism, and the driving speed reducing mechanism is connected with the frame; the tool turntable is arranged at the top of the gear.
Optionally, the tool turntable comprises a fixing plate, a T-shaped groove and a turntable floor; the fixed plate with the gear is connected, be provided with a plurality of T type grooves on the fixed plate, the carousel floor set up in between a plurality of T type grooves, just the top surface on carousel floor with the top surface looks parallel and level in T type groove.
Optionally, the wheel assembly includes a rotary cylinder, a column, a wheel seat, a hub support, a driving mechanism and a wheel; the cylinder body of the rotary oil cylinder is fixedly connected with the frame, the cylinder rod of the rotary oil cylinder is connected with the top of the upright post, the wheel seat is arranged at the bottom of the upright post, two sides of the bottom of the wheel seat are respectively connected with the wheel hub support, the wheel hub support is connected with the driving mechanism, and the wheel is in transmission connection with the driving mechanism.
Optionally, the driving mechanism comprises a motor and a differential; the motor is in transmission connection with the input end of the differential mechanism, the output end of the differential mechanism is connected with the wheels, and the hub support is connected with the differential mechanism shell.
Optionally, the motor is connected with a brake.
Optionally, a monitoring gear is sleeved on the upper portion of the upright column, an angle sensor is arranged on the frame, a driven gear is arranged on a detection rotating shaft of the angle sensor, and the driven gear is meshed with the monitoring gear.
The invention also provides a control method of the heavy-load explosion-proof full-steering vehicle, which comprises the following modes:
firstly, a straight-line mode; the vehicle runs normally without steering; the included angle of the wheel assembly along the axis of the vehicle is zero;
secondly, in-situ steering mode; each wheel assembly and the axis of the vehicle form a certain angle, the wheel assemblies are not parallel, and the vehicle rotates around the center of the vehicle in situ;
thirdly, a diagonal mode; each wheel assembly rotates by the same angle around the self axis, and the angle is not equal to 0 degree or 90 degrees; the vehicle running direction and the axis of the vehicle body form an angle which is the same as the rotation angle of the wheel assembly;
fourthly, a splayed mode; each wheel assembly rotates for a certain angle around the axis of the wheel assembly, the axes of the wheel assemblies are intersected at one point after the wheel assemblies rotate, and the vehicle rotates or turns by taking one point outside the vehicle body as a steering center;
fifthly, a transverse mode is adopted; each wheel assembly rotates 90 degrees around the axis of the wheel assembly, and the running direction of the vehicle is vertical to the vehicle body.
Compared with the prior art, the invention has the following technical effects:
according to the heavy-load explosion-proof full-steering vehicle and the control method, the wheel assembly at the lower part of the vehicle frame is of a four-shaft eight-wheel structure, so that the ground pressure bearing is greatly reduced, the bearing capacity is better, and the operation can be carried out in a narrow workshop passage; the vehicle-mounted special tool equipment can be guaranteed, installed, debugged and operated; the support bracket can be disassembled, so that the support bracket can be conveniently replaced according to different workpieces.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic structural view of a heavy-duty explosion-proof full-steering vehicle according to the present invention;
FIG. 2 is a schematic perspective view of the heavy duty explosion-proof full-steering vehicle of the present invention;
FIG. 3 is a schematic perspective view of another perspective view of the heavy-duty explosion-proof fully-steered vehicle of the present invention;
FIG. 4 is a schematic top view of the heavy duty explosion-proof full steer vehicle of the present invention with the outer shroud removed;
FIG. 5 is a schematic bottom perspective view of the heavy duty explosion-proof fully steerable vehicle of the present invention;
FIG. 6 is a schematic structural view of a frame of the heavy-duty explosion-proof full-steering vehicle of the present invention;
FIG. 7 is a schematic structural view of a driving mechanism in the heavy-duty explosion-proof full steering vehicle of the present invention;
FIG. 8 is a schematic perspective view of a drive mechanism of the heavy duty explosion-proof full steering vehicle of the present invention;
FIG. 9 is an exploded view of the wheel assembly of the heavy duty explosion proof full steer vehicle of the present invention;
FIG. 10 is a schematic structural view of a turntable in the heavy-duty explosion-proof full-steering vehicle of the present invention;
FIG. 11 is a schematic side view of a turntable of the heavy duty explosion-proof full-steering vehicle of the present invention;
FIG. 12 is a schematic bottom perspective view of a turntable of the heavy duty explosion-proof full-steer vehicle of the present invention;
FIG. 13 is a schematic view of a straight-driving mode in the control method of the heavy-duty explosion-proof fully-steered vehicle according to the present invention;
FIG. 14 is a schematic view of an in-situ steering mode in the method of controlling a heavy duty explosion-proof full-steer vehicle according to the present invention;
FIG. 15 is a schematic diagram of a first crab mode in the control method of the heavy duty explosion-proof full-steer vehicle of the present invention;
FIG. 16 is a schematic diagram of a second diagonal mode in the control method of the heavy-duty explosion-proof full-steer vehicle of the present invention;
FIG. 17 is a schematic view of a splay mode in the control method of the heavy duty explosion-proof full-steer vehicle of the present invention;
fig. 18 is a schematic view of a transverse mode in the control method of the heavy-duty explosion-proof full-steering vehicle according to the present invention.
Description of reference numerals: 1. a front support bracket; 2. lifting the working table; 3. a floor; 4. a frame; 5. a turntable assembly; 6. a rear support bracket; 7. a proximity switch; 8. a bumper; 9. an explosion-proof audible and visual alarm; 10. an explosion-proof emergency stop switch; 11. enclosing plates; 12. a switch plate; 13. a distribution box; 14. a folding type drawing ladder; 15. a wheel assembly; 16. a chute; 17. a storage case cover; 18. a battery case cover; 19. driving a turntable; 20. rotating the oil cylinder; 21. an angle sensor; 22. a transition plate; 23. a wheel seat plate; 24. monitoring the gear; 25. a column; 26. swinging a pin shaft; 27. a wheel seat; 28. a wheel; 29. a motor; 30. a differential mechanism; 31. a bearing; 32. a flange; 33. a spline shaft; 34. an O-shaped ring; 35. a hub support; 36. a hub flange; 37. a turntable floor; 38. a T-shaped groove; 39. an output gear; 40. a bracket; 41. a connecting plate; 42. a speed reducer; 43. rotating; 44. a gear; 45. a fixing plate; 46. a drive motor; 47. and a bearing.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The first embodiment is as follows:
as shown in fig. 1 to 12, the present embodiment provides a heavy-duty explosion-proof full-steering vehicle, which includes a frame 4, a support bracket 40, a lifting table 2, a turntable assembly 5 and a wheel assembly 15; the two ends of the top of the frame 4 are respectively provided with one support bracket 40, and the lifting workbench 2 and the turntable assembly 5 are arranged between the two support brackets 40 on the top of the frame 4; a plurality of wheel assemblies 15 are arranged on two sides of the bottom of the frame 4.
The top surface of the frame 4 is provided with a floor 3, and a coaming 11 is arranged around the frame 4.
A group of sliding grooves 16 are respectively arranged at two ends of the top of the frame 4, and the supporting bracket 40 is slidably arranged on the sliding grooves 16. Specifically, each group of sliding grooves 16 comprises four sliding grooves 16 uniformly arranged from one side of the frame 4 to the other side of the frame 4, the bottom of the support bracket 40 is connected with the sliding grooves 16 through sliding blocks, the sliding grooves 16 are T-shaped sliding grooves 16, and the sliding grooves 16 are fixedly connected with the frame 4. The top surface of the runner 16 is flush with the top surface of the floor 3.
The turntable assembly 5 comprises a bracket 40, a rotary seat 43, a bearing 47, a gear 44, a tool turntable and a driving speed reducer 42; the bracket 40 is connected with the frame 4, the swivel mount 43 is arranged on the bracket 40, the bottom surface of the inner ring of the bearing 47 is connected with the top surface of the swivel mount 43, the gear 44 is sleeved on the outer ring of the bearing 47, the gear 44 is in transmission connection with the driving speed reducer 42, and the driving speed reducer 42 is connected with the frame 4; the tool turntable is arranged at the top of the gear 44. The driving speed reducer 42 comprises a driving motor 46 and a speed reducer 42, the side wall of the speed reducer 42 is connected with the frame 4 through a connecting plate 41 and a bolt, the driving motor 46 is connected with the speed reducer 42, the output end of the speed reducer 42 is an output gear 39, the output gear 39 is meshed with a gear 44, the speed reducer 42 is driven through the driving motor 46, the gear 44 is rotated, and then the tool turntable is driven to rotate.
The tool turntable comprises a fixed plate 45, a T-shaped groove 38 and a turntable floor 37; the fixed plate 45 with the gear 44 is connected, be provided with a plurality of T type grooves 38 on the fixed plate 45, carousel floor 37 set up in between a plurality of T type grooves 38, just the top surface on carousel floor 37 with the top surface looks parallel and level of T type groove 38. More specifically, the fixing plate 45 includes a circular plate and a square channel, the circular plate is connected to the gear 44, six square channels are radially disposed on the circular plate, and the T-shaped groove 38 is disposed on the square channels.
The wheel assembly 15 comprises a rotary oil cylinder 20, a stand column 25, a wheel seat 27, a hub support 35, a driving mechanism and wheels 28; the cylinder body of the rotary oil cylinder 20 is fixedly connected with the frame 4, the cylinder rod of the rotary oil cylinder 20 is connected with the top of the upright post 25, the wheel seat 27 is arranged at the bottom of the upright post 25, two sides of the bottom of the wheel seat 27 are respectively connected with the wheel hub support 35, the wheel hub support 35 is connected with the driving mechanism, and the wheel 28 is in transmission connection with the driving mechanism. The driving mechanism comprises a motor 29 and a differential 30; the motor 29 is in transmission connection with the input end of the differential 30, the output end of the differential 30 is connected with the wheels 28, and the hub support 35 is connected with the shell of the differential 30. The motor 29 is connected to a brake. The upper portion of the upright post 25 is sleeved with a monitoring gear 24, the frame 4 is provided with an angle sensor 21, a detection rotating shaft of the angle sensor 21 is provided with a driven gear 44, and the driven gear 44 is meshed with the monitoring gear 24. In this embodiment, the rotary cylinder 20 is a flange 32 double-rack swing cylinder, a transition plate 22 and a wheel seat plate 23 are arranged between a cylinder body of the rotary cylinder 20 and the frame 4, the cylinder body of the rotary cylinder 20 is connected with the transition plate 22, the bottom of the transition plate 22 is connected with the wheel seat plate 23 through a bolt, the wheel seat plate 23 is welded to the frame 4, the output shaft of the rotary cylinder 20 is sleeved with a monitoring gear 24, and the angle sensor 21 is arranged on the wheel seat plate 23. The angle sensor 21 is used for detecting the rotation angle of the rotary cylinder 20, so as to control the angle of the wheel assembly 15 to implement different driving modes. The rotary cylinders 20 are connected to a hydraulic control system, and the rotation angle of each rotary cylinder 20 is controlled by the hydraulic control system.
A folding type drawing ladder 14 is arranged on one side of the frame 4. The collapsible pull ladder 14 is housed in the frame 4 in a collapsed state.
One side of the frame 4 is arranged in the battery bin and the storage box, and the other side of the frame 4 is provided with a switch board 12 and a distribution box 13; the switch board 12 is provided with a plurality of selector switches, a plurality of button switches, and a key switch. The battery compartment, the switch board 12 and the distribution box 13 are all in explosion-proof design, so that the whole vehicle has better explosion-proof capability.
The two sides of the front end and the rear end of the frame 4 are provided with explosion-proof emergency stop switches 10 for stopping the vehicle in emergency.
The front end and the rear end of the frame 4 are respectively provided with an explosion-proof audible and visual alarm 9, and two sides of the explosion-proof audible and visual alarm 9 are respectively provided with a proximity switch 7.
The front end and the rear end of the frame 4 are respectively provided with a bumper 8.
Example two:
as shown in fig. 13 to 18, the present embodiment provides a control method of a heavy-duty explosion-proof fully-steered vehicle in the first embodiment, which includes the following modes:
firstly, a straight-line mode; as shown in fig. 13, the vehicle is traveling normally, without a steering condition; the included angle of the wheel assembly 15 along the axis of the vehicle is zero;
secondly, in-situ steering mode; as shown in fig. 14, each wheel assembly 15 is at an angle to the axis of the vehicle, each wheel assembly 15 is not parallel, and the vehicle rotates in place around its center;
thirdly, a diagonal mode; as shown in fig. 15 and 16, each wheel assembly 15 rotates around its own axis by the same angle, which is not equal to 0 degree or 90 degrees; the vehicle running direction forms an angle with the axis of the vehicle body, and the angle is the same as the rotation angle of the wheel assembly 15;
fourthly, a splayed mode; as shown in fig. 17, each wheel assembly 15 rotates around its own axis by a certain angle, the axes of the wheel assemblies 15 intersect at a point after rotation, and the vehicle rotates or turns around a point outside the vehicle body as a steering center;
fifthly, a transverse mode is adopted; as shown in fig. 18, each wheel assembly 15 rotates 90 degrees around its own axis, and the vehicle traveling direction is perpendicular to the vehicle body.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein, and any reference signs in the claims are not intended to be construed as limiting the claim concerned.
The principle and the implementation mode of the present invention are explained by applying specific examples in the present specification, and the above descriptions of the examples are only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (10)
1. A heavy-load explosion-proof full-steering vehicle is characterized by comprising a vehicle frame, a supporting bracket, a lifting workbench, a turntable assembly and a wheel assembly; the two ends of the top of the frame are respectively provided with one support bracket, and the lifting workbench and the turntable assembly are arranged between the two support brackets on the top of the frame; and a plurality of wheel assemblies are arranged on two sides of the bottom of the frame.
2. The heavy-duty explosion-proof full steering vehicle according to claim 1, wherein a set of sliding grooves are respectively arranged at two ends of the top of the frame, and the supporting bracket is slidably arranged on the sliding grooves.
3. The heavy-duty explosion-proof full steering vehicle according to claim 1, wherein a folding pull ladder is provided at one side of said vehicle frame.
4. The heavy-duty explosion-proof full steering vehicle of claim 1, wherein said turntable assembly comprises a bracket, a swivel mount, a bearing, a gear, a tooling turntable, and a drive reduction mechanism; the bracket is connected with the frame, the swivel mount is arranged on the bracket, the bottom surface of the bearing inner ring is connected with the top surface of the swivel mount, the gear is sleeved on the bearing outer ring, the gear is in transmission connection with the driving speed reducing mechanism, and the driving speed reducing mechanism is connected with the frame; the tool turntable is arranged at the top of the gear.
5. The heavy-duty explosion-proof full steering vehicle according to claim 4, wherein the tooling turntable comprises a fixed plate, a T-shaped groove and a turntable floor; the fixed plate with the gear is connected, be provided with a plurality of T type grooves on the fixed plate, the carousel floor set up in between a plurality of T type grooves, just the top surface on carousel floor with the top surface looks parallel and level in T type groove.
6. The heavy-duty explosion-proof full steering vehicle according to claim 1, wherein said wheel assembly comprises a rotary cylinder, a column, a wheel seat, a hub support, a drive mechanism and a wheel; the cylinder body of the rotary oil cylinder is fixedly connected with the frame, the cylinder rod of the rotary oil cylinder is connected with the top of the upright post, the wheel seat is arranged at the bottom of the upright post, two sides of the bottom of the wheel seat are respectively connected with the wheel hub support, the wheel hub support is connected with the driving mechanism, and the wheel is in transmission connection with the driving mechanism.
7. The heavy-duty explosion-proof full steer vehicle of claim 6, wherein said drive mechanism comprises a motor and a differential; the motor is in transmission connection with the input end of the differential mechanism, the output end of the differential mechanism is connected with the wheels, and the hub support is connected with the differential mechanism shell.
8. The heavy-duty explosion-proof full steering vehicle of claim 7, wherein said motor is connected to a brake.
9. The heavy-duty explosion-proof full steering vehicle according to claim 6, wherein a monitoring gear is sleeved on the upper portion of the upright column, an angle sensor is arranged on the vehicle frame, a driven gear is arranged on a detection rotating shaft of the angle sensor, and the driven gear is meshed with the monitoring gear.
10. The control method of the heavy-duty explosion-proof full-steering vehicle based on any one of claims 1 to 9 is characterized by comprising the following modes:
firstly, a straight-line mode; the vehicle runs normally without steering; the included angle of the wheel assembly along the axis of the vehicle is zero;
secondly, in-situ steering mode; each wheel assembly and the axis of the vehicle form a certain angle, the wheel assemblies are not parallel, and the vehicle rotates around the center of the vehicle in situ;
thirdly, a diagonal mode; each wheel assembly rotates by the same angle around the self axis, and the angle is not equal to 0 degree or 90 degrees; the vehicle running direction and the axis of the vehicle body form an angle which is the same as the rotation angle of the wheel assembly;
fourthly, a splayed mode; each wheel assembly rotates for a certain angle around the axis of the wheel assembly, the axes of the wheel assemblies are intersected at one point after the wheel assemblies rotate, and the vehicle rotates or turns by taking one point outside the vehicle body as a steering center;
fifthly, a transverse mode is adopted; each wheel assembly rotates 90 degrees around the axis of the wheel assembly, and the running direction of the vehicle is vertical to the vehicle body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111625625.3A CN114194039A (en) | 2021-12-28 | 2021-12-28 | Heavy-load explosion-proof full-steering vehicle and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111625625.3A CN114194039A (en) | 2021-12-28 | 2021-12-28 | Heavy-load explosion-proof full-steering vehicle and control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114194039A true CN114194039A (en) | 2022-03-18 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111625625.3A Pending CN114194039A (en) | 2021-12-28 | 2021-12-28 | Heavy-load explosion-proof full-steering vehicle and control method |
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| Country | Link |
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| CN (1) | CN114194039A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115042569A (en) * | 2022-07-01 | 2022-09-13 | 湖南利美防爆装备制造股份有限公司 | Dual-purpose explosion-proof battery tractor of highway-railway |
-
2021
- 2021-12-28 CN CN202111625625.3A patent/CN114194039A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115042569A (en) * | 2022-07-01 | 2022-09-13 | 湖南利美防爆装备制造股份有限公司 | Dual-purpose explosion-proof battery tractor of highway-railway |
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