CN207345916U - The steering and mechanical walking device of mechanical walking device - Google Patents
The steering and mechanical walking device of mechanical walking device Download PDFInfo
- Publication number
- CN207345916U CN207345916U CN201721182055.4U CN201721182055U CN207345916U CN 207345916 U CN207345916 U CN 207345916U CN 201721182055 U CN201721182055 U CN 201721182055U CN 207345916 U CN207345916 U CN 207345916U
- Authority
- CN
- China
- Prior art keywords
- steering
- wheel
- turn
- controller
- motor
- 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.)
- Active
Links
Classifications
-
- 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
- Y02T10/72—Electric energy management in electromobility
Landscapes
- Non-Deflectable Wheels, Steering Of Trailers, Or Other Steering (AREA)
Abstract
Present disclose provides the steering and mechanical walking device of a kind of mechanical walking device.In the steering of the mechanical walking device, two steering front wheels are respectively arranged at the front end both sides of device, are independently connected to one of described two steering motors to realize the independent steering of each steering front wheel, the steering motor is electrically connected to the controller；Described two rear drive sprockets are arranged at the rear end both sides of described device, are independently connected to described two drive motors one to realize that the independent of each rear drive sprocket drives, the driving motor is also electrically connected to the controller；The turn signal input unit and speed signal input unit are electrically connected with the controller respectively.The steering of the disclosure each takes turns independent control, convenient independent debugging in many cases, individually some failure taken turns easily investigation and maintenance relative to traditional mechanical steering.
Description
Technical field
This disclosure relates to a kind of steering, further to a kind of electronically controlled steering, suitable for four-wheel list
In the application solely controlled.
Background technology
In four-wheel walking mechanism, steering needs to meet the situation that steering trapezium principle could not rub ground firmly in tire
It is lower smoothly to turn to.Steering trapezium figure is as shown in Figure 1, meet steering trapezium principle.
General automobile is realized the difference of front-wheel two-wheeled corner by mechanical structure, and the friction speed of trailing wheel passes through differential during steering
Device is realized.
In the occasion that four-wheel individually controls, differential mechanism and mechanical tie rod linkage are installed without condition, therefore can not
Good steering is realized through the above way.
The content of the invention
(1) technical problems to be solved
In view of this, the purpose of the disclosure is to provide a kind of electronically controlled steering and forward method, to solve
Above-described at least part technical problem.
(2) technical solution
The disclosure discloses a kind of steering of mechanical walking device, including two steering front wheels, two steering motors, two
A driving motor, two rear drive sprockets, turn signal input unit, speed signal input unit and controller, wherein,
Described two steering front wheels are respectively arranged at the front end both sides of described device, are independently connected to described two turns
To one of motor to realize the independent steering of each steering front wheel, the steering motor is electrically connected to the controller；
Described two rear drive sprockets are arranged at the rear end both sides of described device, are independently connected to described two driving electricity
For one of machine to realize that the independent of each rear drive sprocket drives, the driving motor is also electrically connected to the controller；
The turn signal input unit and speed signal input unit are electrically connected with the controller respectively.
In some embodiments of the present disclosure, the turn signal input unit includes following at least one：
Direction rocking bar, steering wheel and remote controler.
In some embodiments of the present disclosure, the speed signal input unit includes following at least one：Speed rocking bar,
Gas pedal and remote controler.
In some embodiments of the present disclosure, wheelspan phase between the wheelspan and the rear drive sprocket between the steering front wheel
It is same or different.
In some embodiments of the present disclosure, described two steering motors include the first steering motor, the steering front wheel
Including left steering wheel, left steering wheel connects the first steering motor, controls it to turn left or turn right by the first steering motor, first turn
Controller is also electrically connected to motor, is turned left by controller indirect control left steering wheel or is turned right, and the angle turned to.
In some embodiments of the present disclosure, described two steering motors include the second steering motor, the steering front wheel
Including right turn wheel, right turn wheel connects the second steering motor, controls it to turn left or turn right by the second steering motor, second turn
Controller is also electrically connected to motor, is turned left by controller indirect control right turn wheel or is turned right, and the angle turned to.
In some embodiments of the present disclosure, described two driving motors include the first driving motor, the rear drive sprocket
Including left driving wheel, left driving wheel is arranged on the left of the rear end on a mechanical walking device chassis, it is electrically connected the first driving electricity
Machine, is driven by it, and the first driving motor is electrically connected to controller, by the forward of its indirect control left driving wheel with after
Turn, and the rotating speed of left driving wheel.
In some embodiments of the present disclosure, described two driving motors include the second driving motor, the rear drive sprocket
Including right driving wheel, right driving wheel is arranged on the right side of the rear end on a mechanical walking device chassis, it is electrically connected the second driving electricity
Machine, is driven by it, and the second driving motor is electrically connected to controller, by the forward of its indirect control right driving wheel with after
Turn, and the rotating speed of right driving wheel.
The disclosure also provides a kind of mechanical walking device, including the steering described in any of the above.
(3) beneficial effect
It can be seen from the above technical proposal that the steering and mechanical walking device of disclosure mechanical walking device are at least
Have the advantages that one of them：
(1) relative to traditional mechanical steering, independent control is each taken turns, convenient independent debugging in many cases is single
The solely failure of some wheel easily investigation and maintenance.
(2) mechanical speed difference and steering can not be applied to the occasion that four-wheel be completely independent driving, what the disclosure can be well
Applied to this scene.
Brief description of the drawings
Fig. 1 is the four-wheel walking mechanism principle schematic of the prior art.
Fig. 2 is the steering principle schematic of the mechanical walking device of the embodiment of the present disclosure.
Fig. 3 is the members schematic diagram of steering in Fig. 2.
Fig. 4 is the forward method flow chart of the mechanical walking device of the embodiment of the present disclosure.
Embodiment
For the purpose, technical scheme and advantage of the disclosure are more clearly understood, below in conjunction with specific embodiment, and reference
Attached drawing, is described in further detail the disclosure.
According to the basic conception of the disclosure, there is provided a kind of forward method of mechanical walking device, including independent each deflecting roller
Steering and independent control respectively drive that wheel is only, convenient independent debugging in many cases, individually failure of some wheel easily investigation and
Maintenance.
Fig. 1 is the four-wheel walking mechanism principle schematic of the prior art.The steering side of the prior art according to figure 1
Formula, it meets basic Ackerman principle formula, but the speed control of two trailing wheels is not to realize speed by different motors
Degree is poor, and is due to that two trailing wheels are linked together by device, and different rotating speeds are realized by differential mechanism.
Fig. 2 is the steering principle schematic of the mechanical walking device of the embodiment of the present disclosure.Fig. 3 is steering system in Fig. 2
The members schematic diagram of system.As shown in Figures 2 and 3, the steering of mechanical walking device, including two steering front wheel (bags
Include left steering wheel 5 and right turn wheel 8), two steering motors (including the first steering motor 6 and second steering motor 7), two drive
Dynamic motor (including the first driving motor 2 and second drives motor 3), two rear drive sprockets (including left driving wheel 1 and right driving wheel
4), turn signal input unit, speed signal input unit and controller (not shown), wherein：
Two steering front wheels are respectively arranged at the front end both sides of described device, are independently connected to described two steering electricity
For one of machine to realize the independent steering of each steering front wheel, the steering motor is electrically connected to the controller.Specifically
Can be：After left steering wheel 5 connects the first steering motor 6, it is controlled to turn left or turn right by the first steering motor 6, in addition, the
One steering motor 6 is also electrically connected to controller, is turned left or is turned right by controller indirect control left steering wheel 5, and turn to
Angle.In addition, after right turn wheel 8 connects the second steering motor 7, it is controlled to turn left or turn right by the second steering motor 7, separately
Outside, the second steering motor 7 is also electrically connected to controller, is turned left or is turned right by controller indirect control right turn wheel 8, Yi Jizhuan
To angle.
Further, two rear drive sprockets are arranged at the rear end both sides of described device, are independently connected to described two
For one of driving motor to realize that the independent of each rear drive sprocket drives, the driving motor is also electrically connected to the controller.
Can be specifically：Left driving wheel 1 is arranged on the left of the rear end on mechanical walking device chassis, it is electrically connected the first driving electricity
Machine 2, is driven by it, in addition, the first driving motor 2 is electrically connected to controller, before its indirect control left driving wheel 1
Turn and turn afterwards, and the rotating speed of left driving wheel 1.Right driving wheel 4 is arranged on the left of the rear end on mechanical walking device chassis, its is electrical
The driving motor 3 of connection second, is driven by it, in addition, the second driving motor 3 is electrically connected to controller, is controlled indirectly by it
The forward of right driving wheel 4 processed turns with rear, and the rotating speed of right driving wheel 4.
Moreover, turn signal input unit and speed signal input unit are electrically connected with the controller respectively.It is exterior
Steering/speed action, or the control signal of exterior steering/driving is defeated by turn signal input unit and speed signal
Enter device and enter tool running gear internal circuit as electric signal, form control signal after treatment, with control deflecting roller or
Person's driving wheel.
Wherein, mechanical walking device can be the haulagman such as the walking robot of various types of structures containing wheel portion, automobile
The various devices containing wheel portion structure such as tool, toy car
In certain embodiments, filter circuit is provided between turn signal input unit and controller, to input
Control signal is filtered, and avoids steering and rear wheel drive caused by maloperation.
In certain embodiments, turn signal input unit includes following at least one：Direction rocking bar, steering wheel and remote control
Device.The specific set-up mode of device is enumerated as above-mentioned, existing rocking bar, steering wheel and remote controler is can refer to and is attached and sets
Put.
In certain embodiments, speed signal input unit includes following at least one：Speed rocking bar, gas pedal and distant
Control device.The specific set-up mode of device is enumerated as above-mentioned, existing rocking bar, gas pedal and remote controler is can refer to and is attached
And setting.It should be noted that when all using remote controler for turn signal input unit and speed signal device, can integrate
In a remote controler difference in functionality is realized by different cases.Here remote controler can be only to realize the single of distant control function
Property remote controler, or distant control function is (such as to be preinstalled with the intelligence of distant control function app for the remote control of its partial function
Energy mobile phone, tablet computer or notebook).
In certain embodiments, wheelspan is identical or not between the wheelspan between the steering front wheel and the rear drive sprocket
Together, width can be converted freely.
According to the another aspect of the embodiment of the present disclosure, there is provided a kind of forward method.Fig. 4 is the mechanical row of the embodiment of the present disclosure
The forward method flow chart of walking apparatus.As shown in figure 4, the forward method of mechanical walking device, including：
According to turn signal, two respective steering angles of steering front wheel are determined；
According to drive signal and two respective steering angles of steering front wheel, the respective driving electricity of two rear drive sprockets is determined
Machine rotating speed.
In certain embodiments, the turn signal comes from following at least one：The action signal of direction rocking bar input；Side
The turn signal inputted to disk；And the steering controling signal of external control device transmission.These signals are believed with above-mentioned steering
Number input unit is corresponding, and different turn signals can be determined by different input units.
Further, according to turn signal, determine that two respective steering angles of steering front wheel include：
Determine to turn to according to turn signal to turn right or turning left；Calculated according to the corresponding digital quantity size of turn signal corresponding
Target rotation angle；According to the corner worked as front hook and determine left front deflecting roller turned to corresponding left front deflecting roller；According to Acker
Graceful principle determines the corner of right rear steering wheel.
In the above process, for determining to turn to as right-hand rotation according to turn signal or turning left may include：Exterior steering is believed
Digital signal number is converted into, digital signal value b1 then judges to carry out two steering front wheel right sides more than first threshold (such as 1080)
Turn, digital signal value b1 is less than second threshold (such as 1050), then judges that two steering front wheels turn left.
In the above process, corresponding target rotation angle is calculated according to the corresponding digital quantity size of turn signal, can be according to setting
Fixed proportionate relationship k, the angle that digital quantity is determined to rotate accordingly, such as digital quantity is multiplied by k and then obtains corresponding rotation
Angle.
As shown in Figure 2, it is assumed here that before rotated to the right, and the steering principle of mechanical walking device, θ0For
The corner of left front deflecting roller A (namely left steering wheel), θiFor the corner of right rear steering wheel B (namely right turn wheel), K is two
The distance between steering front wheel, L link to the distance between two rear drive sprocket lines, left driving wheel C for two steering front wheels
Speed (namely left back driving wheel speed) is v2, and right driving wheel speed D (namely right rear drive sprocket speed) is v1, right rear drive sprocket
The distance between instantaneous center of turn O is R1, and the distance between left back driving wheel and instantaneous center of turn O are R2, and R is to turn
Dynamic radius, left driving wheel and right driving wheel central point are respectively E and F, and left driving wheel and right driving wheel wheel distance be M, foundation Ah
Gram graceful principle, meets following condition：
OC=L/tan θ0
EC=DF=(M-L)/2
R2=OC+EC=L/tan θ0+(M-L)/2
R1=R2-M=L/tan θ0-(M+L)/2
ctgθ0-ctgθi=K/L
In certain embodiments, the corner for determining right rear steering wheel according to Ackerman principle includes：
According to formula ctg θ0-ctgθi=K/L calculates the corner of right rear steering wheel；
Wherein, θ0For the corner of left front deflecting roller, θiFor the corner of right rear steering wheel, K be between two steering front wheels away from
From L links to the distance between two rear drive sprocket lines for two steering front wheels.After four-wheel position is fixed, K and L are solid
Definite value, for the corner of left front deflecting roller
In certain embodiments, drive signal includes following at least one：Drive rod or the driving of gas pedal input
Signal；The driving control signal of external control device input.These signals are corresponding with above-mentioned drive signal input unit, can
To determine different turn signals by different input units.
In certain embodiments, determine that the respective driving motor speed of two rear drive sprockets includes：It is true according to drive signal
It is forward or reverse to determine rear drive sprocket；Corresponding target velocity is calculated according to the corresponding digital quantity size of drive signal；According to institute
The corner for stating target velocity, left back driving wheel present speed and right rear steering wheel determines right rear drive sprocket speed.
In the above process, for determining that driving wheel forward or reverse may include according to drive signal：Exterior steering is believed
Digital signal number is converted into, digital signal value b0 then judges to drive after carrying out two more than the 3rd threshold value (such as 1080) to be rotated forward,
Digital signal value b0 is less than the 4th threshold value (such as 1050), then judges two rear drive sprocket reversions.
In the above process, corresponding target rotation angle is calculated according to the corresponding digital quantity size of turn signal, can be according to setting
Fixed proportionate relationship m, corresponding linear velocity is determined by digital quantity, such as digital quantity is multiplied by m and then obtains corresponding linear velocity.
In certain embodiments, turned according to the target velocity, left back driving wheel present speed and right rear steering wheel
Angle determines that right rear drive sprocket speed includes：According to the formula of above-mentioned Ackerman principle, corresponding right rear drive sprocket speed V1 is calculated
And left back driving wheel speed V2.
Certainly, in above-mentioned rotation process, since instantaneous center of turn O is not stopping to change, corresponding turning velocity and steering
Angle also changes at any time, it is therefore desirable to which certain interval of time is the adjustment for carrying out steering angle and speed, until two forwards
To samsara just, two rear drive sprockets stop, target velocity 0, then unitary rotation stops.
The embodiment of the present disclosure also provides a kind of running gear, including the steering described in above example.Wherein, the machine
Tool running gear can be robot, artificial animal or any device with walking function.
It should be noted that " first " used herein, " second ", " the 3rd " etc. are only used for distinguishing different objects, and
Do not mean that between these objects that there is any particular order relation.
The direction term mentioned in embodiment, such as " on ", " under ", "front", "rear", "left", "right" etc., are only with reference to attached
The direction of figure, is not used for limiting the protection domain of the disclosure.Through attached drawing, identical element is by same or like attached drawing mark
Remember to represent.When understanding of this disclosure may be caused to cause to obscure, conventional structure or construction will be omitted.
In the description, the same or similar drawing reference numeral indicates the same or similar component.It is following referring to the drawings to this
The generic disclosure design that the explanation of disclosed embodiment is intended to the disclosure explains, and is not construed as to the disclosure
One kind limitation.
Particular embodiments described above, has carried out further in detail the purpose, technical solution and beneficial effect of the disclosure
Describe in detail bright, it should be understood that the foregoing is merely the specific embodiment of the disclosure, be not limited to the disclosure, it is all
The spirit of the disclosure and any modification, equivalent substitution, improvement and etc. within principle, done, should be included in the protection of the disclosure
Within the scope of.
Claims (9)
1. a kind of steering of mechanical walking device, including two steering front wheels, two steering motors, two driving motors,
Two rear drive sprockets, turn signal input unit, speed signal input unit and controller, wherein,
Described two steering front wheels are respectively arranged at the front end both sides of described device, are independently connected to described two steering electricity
For one of machine to realize the independent steering of each steering front wheel, the steering motor is electrically connected to the controller；
Described two rear drive sprockets are arranged at the rear end both sides of described device, are independently connected to described two driving motors
One to realize that the independent of each rear drive sprocket drives, the driving motor is also electrically connected to the controller；
The turn signal input unit and speed signal input unit are electrically connected with the controller respectively.
2. steering according to claim 1, wherein, the turn signal input unit includes following at least one：
Direction rocking bar, steering wheel and remote controler.
3. steering according to claim 1, wherein, the speed signal input unit includes following at least one：
Speed rocking bar, gas pedal and remote controler.
4. steering according to claim 1, wherein, wheelspan and the rear drive sprocket between the steering front wheel it
Between wheelspan it is identical or different.
5. steering according to claim 1, wherein, described two steering motors include the first steering motor, described
Steering front wheel includes left steering wheel, and left steering wheel connects the first steering motor, its left-hand rotation or right is controlled by the first steering motor
Turn, the first steering motor is also electrically connected to controller, is turned left by controller indirect control left steering wheel or is turned right, and turns to
Angle.
6. steering according to claim 5, wherein, described two steering motors include the second steering motor, described
Steering front wheel includes right turn wheel, and right turn wheel connects the second steering motor, its left-hand rotation or right is controlled by the second steering motor
Turn, the second steering motor is also electrically connected to controller, is turned left by controller indirect control right turn wheel or is turned right, and turns to
Angle.
7. steering according to claim 1, wherein, described two driving motors include the first driving motor, described
Rear drive sprocket includes left driving wheel, and left driving wheel is arranged on the left of the rear end on a mechanical walking device chassis, it is electrically connected the
One driving motor, is driven by it, and the first driving motor is electrically connected to controller, before its indirect control left driving wheel
Turn and turn afterwards, and the rotating speed of left driving wheel.
8. steering according to claim 1, wherein, described two driving motors include the second driving motor, described
Rear drive sprocket includes right driving wheel, and right driving wheel is arranged on the right side of the rear end on a mechanical walking device chassis, it is electrically connected the
Two driving motors, are driven by it, and the second driving motor is electrically connected to controller, before its indirect control right driving wheel
Turn and turn afterwards, and the rotating speed of right driving wheel.
9. a kind of mechanical walking device, wherein, including any steering in claim 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721182055.4U CN207345916U (en) | 2017-09-14 | 2017-09-14 | The steering and mechanical walking device of mechanical walking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721182055.4U CN207345916U (en) | 2017-09-14 | 2017-09-14 | The steering and mechanical walking device of mechanical walking device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207345916U true CN207345916U (en) | 2018-05-11 |
Family
ID=62411070
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721182055.4U Active CN207345916U (en) | 2017-09-14 | 2017-09-14 | The steering and mechanical walking device of mechanical walking device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207345916U (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108556616A (en) * | 2018-06-04 | 2018-09-21 | 浙江立石机器人技术有限公司 | A kind of mobile forward method of four-wheel robot and four-wheel robot |
| CN110080585A (en) * | 2019-05-23 | 2019-08-02 | 珠海丽亭智能科技有限公司 | A kind of parking robot variable-length measurement method |
| CN111497932A (en) * | 2020-04-29 | 2020-08-07 | 淮安信息职业技术学院 | Novel electric automobile capable of reducing steering radius, control system and control method |
| CN111674463A (en) * | 2020-06-18 | 2020-09-18 | 杭州阿博思新能源汽车科技有限公司 | Wheel steering hierarchical control method and wheel steering system |
| CN112606904A (en) * | 2020-12-29 | 2021-04-06 | 无锡蓝海华腾技术有限公司 | New energy automobile differential steering control method and system |
| CN113291164A (en) * | 2021-06-30 | 2021-08-24 | 湖南三一智能控制设备有限公司 | Forklift steering method and device and forklift |
| CN113415357A (en) * | 2021-07-08 | 2021-09-21 | 华中科技大学 | Multifunctional rescue back-delivery robot |
| CN113602345A (en) * | 2021-08-03 | 2021-11-05 | 湖州绿色智能制造产业技术研究院 | Marching type commodity circulation dolly based on ackerman steering mechanism |
| CN114056421A (en) * | 2021-12-17 | 2022-02-18 | 江西洪都航空工业集团有限责任公司 | Two-drive two-steering motion control system for unmanned vehicle |
| CN114348110A (en) * | 2022-02-11 | 2022-04-15 | 贵州翰凯斯智能技术有限公司 | Differential active steering system of self-walking robot platform and control method |
| CN114735071A (en) * | 2022-04-22 | 2022-07-12 | 徐工集团工程机械股份有限公司 | Unmanned platform multi-mode trailing arm type steering driving control system and method |
| CN115152433A (en) * | 2022-08-17 | 2022-10-11 | 松灵机器人(深圳)有限公司 | Running gear and harvester |
-
2017
- 2017-09-14 CN CN201721182055.4U patent/CN207345916U/en active Active
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108556616A (en) * | 2018-06-04 | 2018-09-21 | 浙江立石机器人技术有限公司 | A kind of mobile forward method of four-wheel robot and four-wheel robot |
| CN110080585A (en) * | 2019-05-23 | 2019-08-02 | 珠海丽亭智能科技有限公司 | A kind of parking robot variable-length measurement method |
| CN111497932A (en) * | 2020-04-29 | 2020-08-07 | 淮安信息职业技术学院 | Novel electric automobile capable of reducing steering radius, control system and control method |
| CN111674463A (en) * | 2020-06-18 | 2020-09-18 | 杭州阿博思新能源汽车科技有限公司 | Wheel steering hierarchical control method and wheel steering system |
| CN111674463B (en) * | 2020-06-18 | 2021-10-12 | 阿博思汽车(杭州)有限公司 | Wheel steering hierarchical control method and wheel steering system |
| CN112606904B (en) * | 2020-12-29 | 2022-05-03 | 无锡蓝海华腾技术有限公司 | New energy automobile differential steering control method and system |
| CN112606904A (en) * | 2020-12-29 | 2021-04-06 | 无锡蓝海华腾技术有限公司 | New energy automobile differential steering control method and system |
| CN113291164A (en) * | 2021-06-30 | 2021-08-24 | 湖南三一智能控制设备有限公司 | Forklift steering method and device and forklift |
| CN113415357A (en) * | 2021-07-08 | 2021-09-21 | 华中科技大学 | Multifunctional rescue back-delivery robot |
| CN113602345A (en) * | 2021-08-03 | 2021-11-05 | 湖州绿色智能制造产业技术研究院 | Marching type commodity circulation dolly based on ackerman steering mechanism |
| CN114056421A (en) * | 2021-12-17 | 2022-02-18 | 江西洪都航空工业集团有限责任公司 | Two-drive two-steering motion control system for unmanned vehicle |
| CN114348110A (en) * | 2022-02-11 | 2022-04-15 | 贵州翰凯斯智能技术有限公司 | Differential active steering system of self-walking robot platform and control method |
| CN114735071A (en) * | 2022-04-22 | 2022-07-12 | 徐工集团工程机械股份有限公司 | Unmanned platform multi-mode trailing arm type steering driving control system and method |
| CN115152433A (en) * | 2022-08-17 | 2022-10-11 | 松灵机器人(深圳)有限公司 | Running gear and harvester |
| CN115152433B (en) * | 2022-08-17 | 2024-01-23 | 松灵机器人(深圳)有限公司 | Walking device and harvester |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN207345916U (en) | The steering and mechanical walking device of mechanical walking device | |
| CN106184350B (en) | A kind of four-wheel steering system and steering pattern control method of multi-mode | |
| CN103332236B (en) | A kind of mobile device of robot | |
| CN104477238B (en) | 360 degree of four-wheel steering agricultural vehicles | |
| CN103569197B (en) | four-wheel steering system and control method thereof | |
| CN204506991U (en) | A kind of have the battery-driven car entirely turned to real-time 4 wheel driven function | |
| US20160096548A1 (en) | Electric drive motor module | |
| CN105460076A (en) | Electric power steering apparatus | |
| CN107284541A (en) | A kind of right angle legs rotate barrier-crossing traveling mechanism | |
| CN109519506A (en) | Electric car and its drive system | |
| CN108639185A (en) | A kind of single driving steering wheel type omnidirectional AGV vehicles | |
| CN106488867B (en) | Automobile steering system | |
| CN206475746U (en) | It is a kind of to be used for the differential drive device of industrial traveling vehicle | |
| CN104527781A (en) | Four-wheel steering mechanism with two freedom degrees | |
| CN101973311B (en) | Integral active electric power-assisted steering mechanical structure | |
| CN101624065A (en) | Differential steering drive mechanism of four-wheel electric motor car | |
| CN106240358A (en) | The steering and driving axle of double differectial structure | |
| CN204341182U (en) | A kind of intelligent steering system of four-wheel automobile | |
| KR101272080B1 (en) | Steering apparatus | |
| CN103727182B (en) | A kind of four-wheel-drive transfer case | |
| CN109334800A (en) | A kind of walking assembly for the trolley that convenient can turn | |
| CN207496771U (en) | A kind of four-wheel steering transmission device | |
| CN207311661U (en) | Omnidirectional's wheel drive unit and omnidirectional's differential driving trolley | |
| CN108163047B (en) | Vehicle steering system and vehicle using same | |
| CN101893898A (en) | Gravity inductive control device for intelligent trolley |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |