CN114735108A - Six-wheel chassis structure with Ackerman steering and pivot steering and method - Google Patents
Six-wheel chassis structure with Ackerman steering and pivot steering and method Download PDFInfo
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- CN114735108A CN114735108A CN202210471990.1A CN202210471990A CN114735108A CN 114735108 A CN114735108 A CN 114735108A CN 202210471990 A CN202210471990 A CN 202210471990A CN 114735108 A CN114735108 A CN 114735108A
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- steering
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
- B62D61/10—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with more than four wheels
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- 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
- B62D7/02—Steering linkage; Stub axles or their mountings for pivoted bogies
- B62D7/026—Steering linkage; Stub axles or their mountings for pivoted bogies characterised by comprising more than one bogie, e.g. situated in more than one plane transversal to the longitudinal centre line of the vehicle
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- 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
- B62D7/02—Steering linkage; Stub axles or their mountings for pivoted bogies
- B62D7/04—Steering linkage; Stub axles or their mountings for pivoted bogies with more than one wheel
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automatic Cycles, And Cycles In General (AREA)
Abstract
The invention discloses a six-wheel chassis structure with Ackerman steering and pivot steering and a method thereof, wherein the six-wheel chassis structure comprises a frame (1), wherein straight-going modules (2) are symmetrically distributed on two sides of the middle part of the frame (1), and steering modules (3) are symmetrically distributed on two sides of two ends of the frame (1). The using method comprises the following steps: each steering module independently controls the rotation angle and direction of each steering module at the front end and the rear end of the frame to realize Ackerman steering and pivot steering; when a steering large circle formed by 4 steering modules is concentric with a steering small circle formed by 2 straight-going modules, the pivot steering is realized; the two steering modules on one side of the control frame and the straight module on the same side form an inner steering arc, and the two steering modules on the other side of the control frame and the straight module on the same side form an outer steering arc, so that Ackerman steering is realized. The invention has the characteristic of effectively improving the steering flexibility.
Description
Technical Field
The invention relates to a robot chassis, in particular to a six-wheel chassis structure with Ackerman steering and pivot steering and a method.
Background
A large amount of high-voltage and high-current equipment exists in the transformer substation, and a fire disaster is easily caused by equipment faults, line defects and other problems, so that routine inspection needs to be carried out on the interior of the transformer substation. Along with the progress and the development of science and technology, more and more transformer substations begin to adopt and patrol and examine the fire-fighting robot and begin to monitor the fire incident of transformer substation, in case take place the condition of a fire, the fire-fighting robot can control the condition of a fire the very first time, has improved the monitoring and the early warning level of transformer substation's early fire hidden danger. However, because the space in the transformer substation is limited, the turning radius of the existing fire-fighting robot is large, pivot steering and ackermann steering cannot be simultaneously realized, the turning is relatively inflexible, and the inspection efficiency is easily influenced. Therefore, the prior art has the problem of inflexible steering.
Disclosure of Invention
The invention aims to provide a six-wheel chassis structure with Ackerman steering and pivot steering and a method. The invention has the characteristic of effectively improving the steering flexibility.
The technical scheme of the invention is as follows: the six-wheel chassis structure with Ackermann steering and pivot steering comprises a frame, wherein straight-going modules are symmetrically distributed on two sides of the middle of the frame, and steering modules are symmetrically distributed on two sides of two ends of the frame.
In the six-wheel chassis structure with ackermann steering and pivot steering, the damping modules are arranged between the steering module and the frame and between the straight module and the frame.
In the six-wheel chassis structure with ackerman steering and pivot steering, the straight module comprises a straight upper rocker arm and a straight lower rocker arm which are fixed on the side surface of the middle part of the frame, a straight horn frame is arranged between the straight upper rocker arm and the straight lower rocker arm, and straight wheels are arranged on the straight horn frame.
In the six-wheeled chassis structure with ackermann steering and pivot steering, the steering module comprises an upper steering rocker and a lower steering rocker which are arranged at the upper end and the lower end of the side surface of the end part of the frame, a steering knuckle mount is arranged between the upper steering rocker and the lower steering rocker, and a large steering driving mechanism fixed at the bottom of the frame is arranged on the side surface of the steering knuckle mount; and the front end of the steering claw frame is provided with a steering wheel.
In the six-wheel chassis structure with ackermann steering and pivot steering, the large steering driving mechanism comprises a motor lead screw component fixed at the bottom of the frame, a push rod mounting seat is arranged at the moving end of the motor lead screw component, an electric push rod is arranged on the push rod mounting seat, a steering pull rod is arranged at the output end of the electric push rod, and the steering pull rod is connected with the steering knuckle frame.
The use method of the six-wheel chassis structure with Ackerman steering and pivot steering is characterized in that each steering module independently controls the rotation angle and direction of each steering module at the front end and the rear end of the frame to realize the Ackerman steering and the pivot steering;
when a steering large circle formed by 4 steering modules is concentric with a steering small circle formed by 2 straight-going modules, the pivot steering is realized;
the two steering modules on one side of the control frame and the straight module on the same side form an inner steering arc, and the two steering modules on the other side of the control frame and the straight module on the same side form an outer steering arc, so that Ackerman steering is realized.
Compared with the prior art, the invention can effectively reduce the turning radius by arranging the straight module in the middle of the frame, arranging the steering modules on the left side and the right side of the front end and the rear end of the frame, controlling the steering angle of the steering modules and mutually matching with the straight module, thereby realizing Ackerman steering and in-situ steering and further effectively improving the flexibility of turning. Meanwhile, the steering module of the invention realizes large-angle steering by adopting the synchronous work of the electric push rod and the motor screw rod, the maximum steering difference can reach 86.60 degrees, and the steering flexibility is further improved. In conclusion, the steering device has the characteristic of effectively improving the steering flexibility.
Drawings
FIG. 1 is a schematic view of the structure during pivot steering;
FIG. 2 is a view of the structure during Ackerman steering;
FIG. 3 is a structural view of the present invention;
FIG. 4 is an enlarged view of a portion of FIG. 3;
FIG. 5 is a bottom view of the present invention;
FIG. 6 is an enlarged partial view of FIG. 5;
FIG. 7 is a force analysis view of the steering wheel when the steering angle is maximum;
FIG. 8 is a simplified force analysis diagram for a steerable wheel at maximum steering angle.
The symbols in the drawings are: 1-vehicle frame, 2-straight module, 3-steering module, 4-damping module, 201-straight upper rocker arm, 202-straight lower rocker arm, 203-straight cleat frame, 204-straight wheel, 301-steering upper rocker arm, 302-steering lower rocker arm, 303-steering cleat frame, 304-steering wheel, 305-motor screw rod component, 306-push rod mounting seat, 307-electric push rod and 308-steering pull rod.
Detailed Description
The invention is further illustrated by the following figures and examples, which are not to be construed as limiting the invention.
Examples are given. The six-wheel chassis structure with ackermann steering and pivot steering comprises a frame 1, wherein straight traveling modules 2 are symmetrically distributed on two sides of the middle of the frame 1, and steering modules 3 are symmetrically distributed on two sides of two ends of the frame 1, as shown in figures 1 to 8.
And damping modules 4 are arranged between the steering module 3 and the frame 1 and between the straight module 2 and the frame 1.
The straight-going module 2 comprises a straight-going upper rocker arm 201 and a straight-going lower rocker arm 202 which are fixed on the side surface of the middle part of the vehicle frame 1, a straight-going goat's horn frame 203 is arranged between the straight-going upper rocker arm 201 and the straight-going lower rocker arm 202, and a straight-going wheel 204 is arranged on the straight-going goat's horn frame 203.
The steering module 3 comprises an upper steering rocker arm 301 and a lower steering rocker arm 302 which are arranged at the upper end and the lower end of the side surface of the end part of the frame 1, a steering knuckle bracket 303 is arranged between the upper steering rocker arm 301 and the lower steering rocker arm 302, and a large steering driving mechanism fixed at the bottom of the frame 1 is arranged on the side surface of the steering knuckle bracket 303; the front end of the steering goat frame 303 is provided with a steering wheel 304.
The large steering driving mechanism comprises a motor lead screw assembly 305 fixed at the bottom of the frame 1, a push rod mounting seat 306 is arranged at the moving end of the motor lead screw assembly 305, an electric push rod 307 is arranged on the push rod mounting seat 306, a steering pull rod 308 is arranged at the output end of the electric push rod 307, and the steering pull rod 308 is connected with the steering knuckle frame 303.
A steering support is arranged between the steering pull rod and the steering knuckle support.
The movement of the motor lead screw and/or the electric push rod drives the action of the steering pull rod, so that the claw frame is driven to rotate around the upper rocker arm and the lower rocker arm, and finally the adjustment of the wheel steering is realized.
In the initial state, the push rod mounting seat on the motor screw rod is positioned at the innermost end and does not participate in the adjustment of the steering angle of the steering wheel. When the steering wheel is in small steering, the steering of the steering wheel is realized only by the stretching of the electric push rod.
The specific process for realizing large steering (pivot steering) is as follows: firstly, the output end of an electric push rod starts to extend to drive a steering wheel to steer, after the output end of the electric push rod reaches the maximum extension position of the electric push rod, a motor screw rod starts to move outwards to drive a main body of the electric push rod to move outwards, meanwhile, the output end of the electric push rod starts to contract synchronously, and the contraction speed of the output end of the electric push rod is the same as the outward movement speed of the motor screw rod; when the steering wheel reaches the designated position, the motor screw rod assembly stops acting, the output end of the electric push rod continues to extend, and the steering wheel is driven to continue steering until the electric push rod reaches the maximum extension position, so that large-angle steering of the steering wheel is realized, and the angle required by in-situ steering can be met.
When the motor screw rod and the electric push rod are controlled to move reversely and at the same speed in large steering, the horizontal thrust of an object to the motor screw rod assembly can be counteracted, the motor screw rod with small volume, high precision and large transverse and longitudinal static loads can be adopted, the power and the volume of the motor screw rod are effectively reduced, the purchasing cost of the motor can be reduced, and the manufacturing cost of the robot is further reduced.
The use method of the six-wheel chassis structure with Ackerman steering and pivot steering is characterized in that each steering module independently controls the rotation angle and direction of each steering module at the front end and the rear end of the frame to realize the Ackerman steering and the pivot steering;
when a steering large circle formed by 4 steering modules is concentric with a steering small circle formed by 2 straight-going modules, the pivot steering is realized; each steering wheel of the steering module is tangent to the big circle to form a big arc, and each straight wheel of the straight module is tangent to the small circle to form a small arc, so that the abrasion of the tire is greatly reduced, the service life and the safety are prolonged, and the in-situ positioning precision and the accuracy of in-situ steering are also improved, as shown in figure 1;
the two steering modules on one side of the control frame and the straight module on the same side form an inner steering arc, and the two steering modules on the other side of the control frame and the straight module on the same side form an outer steering arc, so that Ackerman steering is realized. Namely, the upper ends of the tires on the two sides of the frame run through small arcs, and the lower ends run through large arcs to realize Ackerman steering, as shown in figure 2.
Fig. 1 shows that the steering torque is maximum (i.e. the steering angle is 56.31 °) when the chassis of the six wheels is in the state, and the stress analysis chart of the steering wheel is shown in fig. 7 and 8.
A load of 800kg is set, and on average each wheel 800/6-133.33 kg,
the static friction coefficient mu of a normal road surface is 0.7, g is 10,
f＝μFn＝0.7*1333.3＝933.3N，
T＝f*L＝933.3*0.152＝141.9Nm，
according to the torque formula F1L 1F L T;
F1*0.1363＝141.9；
F1＝1041.09N；
that is, F2 is 1041.09/cos (19.55 °) 1104.78N;
namely, the required electric push rod pulling force F3 is 1104.78 cos (36.76 °) is 885.09N;
safe tension: f3 × 1.2 ═ 1062.11N
The steering gear adopts the 150mm small-size light-weight, 48V low voltage, 50W low power, 30 decibel low noise and 1400N high-thrust IP 65-level waterproof electric push rod to realize steering, uses the motor screw rod which has small volume, high precision and high transverse and longitudinal static loads, is 0.06mm high precision, has the maximum horizontal static load of 1150N and meets the design requirement.
Claims (6)
1. Have six rounds of chassis structures of ackermann turning round and pivot turn to concurrently, its characterized in that: the bicycle comprises a bicycle frame (1), wherein straight modules (2) which are symmetrically distributed are arranged on two sides of the middle part of the bicycle frame (1), and steering modules (3) which are symmetrically distributed are arranged on two sides of two ends of the bicycle frame (1).
2. The six-wheeled chassis structure with ackermann steering and pivot steering of claim 1, wherein: damping modules (4) are arranged between the steering module (3) and the frame (1) and between the straight module (2) and the frame (1).
3. The six-wheeled chassis structure with ackermann steering and pivot steering of claim 1, wherein: the straight-going module (2) comprises a straight-going upper rocker arm (201) and a straight-going lower rocker arm (202) which are fixed on the side face of the middle part of the vehicle frame (1), a straight-going goat's horn frame (203) is arranged between the straight-going upper rocker arm (201) and the straight-going lower rocker arm (202), and a straight-going wheel (204) is arranged on the straight-going goat's horn frame (203).
4. The six-wheeled chassis structure with ackermann steering and pivot steering of claim 1, wherein: the steering module (3) comprises an upper steering rocker arm (301) and a lower steering rocker arm (302) which are arranged at the upper end and the lower end of the side surface of the end part of the frame (1), a steering knuckle frame (303) is arranged between the upper steering rocker arm (301) and the lower steering rocker arm (302), and a large steering driving mechanism fixed at the bottom of the frame (1) is arranged on the side surface of the steering knuckle frame (303); the front end of the steering goat's horn frame (303) is provided with a steering wheel (304).
5. The six-wheeled chassis structure with both ackermann steering and pivot steering of claim 4, wherein: the large steering driving mechanism comprises a motor lead screw assembly (305) fixed to the bottom of the frame (1), a push rod mounting seat (306) is arranged at the moving end of the motor lead screw assembly (305), an electric push rod (307) is arranged on the push rod mounting seat (306), a steering pull rod (308) is arranged at the output end of the electric push rod (307), and the steering pull rod (308) is connected with the steering knuckle frame (303).
6. A method of using the six-wheeled chassis structure having both ackermann steering and pivot steering of any one of claims 1 to 5, wherein: each steering module independently controls the rotation angle and direction of each steering module at the front end and the rear end of the frame to realize Ackerman steering and pivot steering;
when a steering large circle formed by 4 steering modules is concentric with a steering small circle formed by 2 straight-going modules, the pivot steering is realized;
the two steering modules on one side of the control frame and the straight module on the same side form an inner steering arc, and the two steering modules on the other side of the control frame and the straight module on the same side form an outer steering arc, so that Ackerman steering is realized.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210471990.1A CN114735108B (en) | 2022-04-29 | 2022-04-29 | Six-wheel chassis structure with Ackerman steering and pivot steering and method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210471990.1A CN114735108B (en) | 2022-04-29 | 2022-04-29 | Six-wheel chassis structure with Ackerman steering and pivot steering and method |
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| CN114735108A true CN114735108A (en) | 2022-07-12 |
| CN114735108B CN114735108B (en) | 2023-02-28 |
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Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01156177A (en) * | 1987-12-15 | 1989-06-19 | Suzuki Motor Co Ltd | Steering device for car |
| CN103317987A (en) * | 2013-05-16 | 2013-09-25 | 姬亮 | Off-road vehicle with wheels capable of being lifted and landed freely |
| CN103419842A (en) * | 2012-05-21 | 2013-12-04 | 武汉欧塔科汽车设计研究院有限公司 | Front axle and rear axle steering system utilizing numerical control speed changer to conduct mechanical transmission for a rear axle |
| CN107662664A (en) * | 2017-09-08 | 2018-02-06 | 中国人民解放军国防科技大学 | Multi-wheel type mobile platform |
| US20180093705A1 (en) * | 2016-10-05 | 2018-04-05 | Dreco Energy Services Ulc | Movable rig and steering system |
| CN112092553A (en) * | 2020-09-30 | 2020-12-18 | 李汉舟 | Chassis with zero turning radius and strong shock resistance |
| US20210061381A1 (en) * | 2019-08-28 | 2021-03-04 | California Institute Of Technology | Four-wheeled articulated steering vehicle system |
| CN114313061A (en) * | 2021-12-27 | 2022-04-12 | 无锡协联信息技术有限公司 | Movable type monitoring robot chassis structure with double steering mechanisms |
| WO2022077059A1 (en) * | 2020-10-13 | 2022-04-21 | Doftek Pty Ltd | Wheel alignment systems |
| CN217198439U (en) * | 2022-04-29 | 2022-08-16 | 浙江航天润博测控技术有限公司 | Six-wheel chassis structure with Ackerman steering and pivot steering functions |
-
2022
- 2022-04-29 CN CN202210471990.1A patent/CN114735108B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01156177A (en) * | 1987-12-15 | 1989-06-19 | Suzuki Motor Co Ltd | Steering device for car |
| CN103419842A (en) * | 2012-05-21 | 2013-12-04 | 武汉欧塔科汽车设计研究院有限公司 | Front axle and rear axle steering system utilizing numerical control speed changer to conduct mechanical transmission for a rear axle |
| CN103317987A (en) * | 2013-05-16 | 2013-09-25 | 姬亮 | Off-road vehicle with wheels capable of being lifted and landed freely |
| US20180093705A1 (en) * | 2016-10-05 | 2018-04-05 | Dreco Energy Services Ulc | Movable rig and steering system |
| CN107662664A (en) * | 2017-09-08 | 2018-02-06 | 中国人民解放军国防科技大学 | Multi-wheel type mobile platform |
| US20210061381A1 (en) * | 2019-08-28 | 2021-03-04 | California Institute Of Technology | Four-wheeled articulated steering vehicle system |
| CN112092553A (en) * | 2020-09-30 | 2020-12-18 | 李汉舟 | Chassis with zero turning radius and strong shock resistance |
| WO2022077059A1 (en) * | 2020-10-13 | 2022-04-21 | Doftek Pty Ltd | Wheel alignment systems |
| CN114313061A (en) * | 2021-12-27 | 2022-04-12 | 无锡协联信息技术有限公司 | Movable type monitoring robot chassis structure with double steering mechanisms |
| CN217198439U (en) * | 2022-04-29 | 2022-08-16 | 浙江航天润博测控技术有限公司 | Six-wheel chassis structure with Ackerman steering and pivot steering functions |
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Effective date of registration: 20230410 Address after: 310000 room 808, building 1, No. 51, Jiusheng Road, Shangcheng District, Hangzhou, Zhejiang Patentee after: Zhejiang Aerospace Runbo Measurement and Control Technology Co.,Ltd. Patentee after: CASICC INTELLIGENT ROBOT Co.,Ltd. Address before: 310000 room 808, building 1, No. 51, Jiusheng Road, Shangcheng District, Hangzhou, Zhejiang Patentee before: Zhejiang Aerospace Runbo Measurement and Control Technology Co.,Ltd. |
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