CN210101317U - One-driving four-action pivot steering device - Google Patents
One-driving four-action pivot steering device Download PDFInfo
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- CN210101317U CN210101317U CN201920775152.7U CN201920775152U CN210101317U CN 210101317 U CN210101317 U CN 210101317U CN 201920775152 U CN201920775152 U CN 201920775152U CN 210101317 U CN210101317 U CN 210101317U
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- wheels
- bevel gears
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Abstract
The utility model relates to a four-wheel-drive pivot steering device, which consists of a driving system and a steering system, wherein four wheel axles are respectively connected with a driving mechanism through a telescopic universal shaft; one transmission output shaft in the cross commutator is connected with a motor, bevel gears are fixedly connected to the transmission output shafts which drive the two wheels on the same side respectively, the other two transmission output shafts are connected with sliding gears respectively, one end of a telescopic universal shaft is connected with a wheel shaft of the wheel, and the other end of the telescopic universal shaft is connected with the bevel gears; bevel gears on telescopic universal shafts for driving two wheels on the same side are respectively in meshed connection with bevel gears on two transmission output shafts of the cross-shaped reverser; bevel gears on telescopic universal shafts driving the two wheels on the other side are respectively meshed with sliding gears on the other two transmission output shafts of the cross-shaped reverser; the steering shafts of the four wheels respectively penetrate through the chassis of the vehicle and then are connected with bevel gears B, and the bevel gears B on the steering shafts of the two diagonal wheels are respectively meshed and connected with bevel gears A at two ends of the same connecting rod.
Description
Technical Field
The utility model relates to a vehicle all direction movement system, especially one kind can realize that the vehicle gos forward, sideslip, the rotatory three kinds of motion forms in original place turn to the device.
Background
In daily life, due to the limitation of a vehicle running structure, when the vehicle runs into a parking garage, an L-shaped narrow road and a complex road condition, a novice often takes measures to waste a lot of time of a vehicle owner, and blockage can be caused in serious conditions.
Due to market demands, various colleges and research institutions are researching omni-directional mobile platforms. At present, the system is divided into two types of omnibearing systems with a steering mechanism and without the steering mechanism. The similar scheme is as follows:
1) the pivot steering system with steering mechanism is characterized by that on the basis of general wheel train a set of steering device is added to control the trend and movement direction of wheel hub plane, such as universal wheel train, etc.
2) The pivot steering system without a steering mechanism realizes three-degree-of-freedom motion in a plane by the special design of a wheel structure and the speed matching of a wheel train, and a typical omnidirectional wheel comprises: mecanum wheels, ball wheels (fig. 1), orthogonal wheels (fig. 2), and the like.
However, the above technical solutions cannot simultaneously realize three motion modes of advancing, traversing and rotating in situ.
Disclosure of Invention
The utility model provides a driving four-action pivot steering device, which can realize three motion modes of forward movement, transverse movement and pivot rotation of a trolley; by adopting the telescopic universal coupling and the cross commutator, the original turning of the common wheel can be realized while the transmission is realized, the turning radius is avoided, the structure is simple and ingenious, and the turning difficulty and the occupied space of the vehicle are saved; the rotation direction of the wheels is changed by adopting the sliding gear, so that the trolley rotates in situ.
In order to achieve the above object, the utility model adopts the following technical scheme: a four-wheel drive pivot steering device comprises a driving system and a steering system, wherein the driving system is provided with four wheels which are respectively arranged at four corners under a vehicle chassis and a driving mechanism for driving the four wheels, and wheel shafts of the four wheels are respectively connected with the driving mechanism through a telescopic universal shaft; the driving mechanism is provided with a motor and a middle cross commutator arranged below a vehicle chassis, the cross commutator is provided with four transmission output shafts, wherein one transmission output shaft is connected with the motor, the transmission output shafts for driving two wheels on the same side are respectively and fixedly connected with a bevel gear, the other two transmission output shafts are respectively connected with a sliding gear, one end of the telescopic universal shaft is connected with a wheel shaft of the wheel, and the other end of the telescopic universal shaft is connected with the bevel gear; bevel gears on telescopic universal shafts for driving the two wheels on the same side are respectively in meshed connection with bevel gears on two transmission output shafts of the cross-shaped reverser; bevel gears on telescopic universal shafts driving the two wheels on the other side are respectively in meshed connection with sliding gears on the other two transmission output shafts of the cross-shaped reverser; the steering system is provided with two connecting rods for driving wheels to steer, steering shafts of four wheels respectively penetrate through a chassis of the vehicle and are connected with bevel gears B, and the bevel gears B on the steering shafts of two diagonal wheels are respectively meshed and connected with bevel gears A at two ends of the same connecting rod;
furthermore, the sliding gear is formed by oppositely arranging the small ends of two identical bevel gears.
Further, the connecting rod is connected to the vehicle chassis through a bearing seat.
Furthermore, the two connecting rods are connected with a speed reducer and a motor, and the motor synchronously drives the speed reducer to rotate.
Further, when the vehicle needs to achieve the advancing function, the motor drives the transmission output shafts of the cross-shaped commutator in four directions to rotate, the bevel gears on the transmission output shafts are matched to achieve crossed shaft transmission, the telescopic universal shafts are driven to rotate, and therefore the four wheels are driven to rotate synchronously.
Further, when the vehicle needs the sideslip, two connecting rods drive simultaneously, drive bevel gear B5 and rotate 90 degrees to make the four corners wheel rotate 90 degrees simultaneously, but scalable cardan shaft makes the four corners wheel in rotatory in-process, remain the connected state throughout, make the four corners wheel after rotating 90 degrees still can continue the transmission.
Further, when the vehicle needs to rotate in place, the two connecting rods are driven simultaneously, the four-corner wheels rotate at the same time by a proper angle, the axial lead of the two diagonal wheels passes through the geometric center of the vehicle, the sliding gear moves, the driving directions of the two diagonal wheels are opposite, and therefore the in-place rotation is achieved.
The utility model has the advantages that:
1. the utility model realizes the driving and simultaneous steering by using the telescopic universal coupling, and improves the scientificity of the utility model;
2. the utility model uses the sliding gear and the cross commutator in combination to realize the original place rotation of the trolley, thus improving the practicability of the utility model;
3. the utility model discloses can realize a drive, four rotate and turn to, one drives four promptly and moves, has improved this utility model use value.
Drawings
FIG. 1 is a schematic view of an exemplary ball wheel steering apparatus;
FIG. 2 is a schematic view of an exemplary orthogonal wheel steering arrangement;
fig. 3 is a schematic structural view of a driving system of a four-wheel drive pivot steering apparatus according to the present invention;
fig. 4 is a schematic structural view of a steering system of a four-wheel drive pivot steering apparatus according to the present invention.
Detailed Description
The present invention will be further explained with reference to the accompanying drawings and examples.
As shown in figures 3 and 4, the one-drive four-action pivot steering device consists of a drive system and a steering system.
As shown in fig. 3, the driving system comprises a telescopic cardan shaft 1, wheels 4, a slip gear 9, a cross commutator 6, a motor 8, a first bevel gear 7 and a second bevel gear 10. The four wheels 4 are respectively arranged at four corners below a vehicle chassis, and wheel shafts of the four wheels 4 are respectively connected with a driving mechanism consisting of a cross commutator 6, a first bevel gear 7, a motor 8 and a sliding gear 9 through a telescopic universal shaft 1. One end of the telescopic universal shaft 1 is connected with a wheel shaft of the wheel 4, and the other end of the telescopic universal shaft is connected with a first bevel gear 7. The cross-shaped reverser 6 is arranged in the middle of the lower surface of the vehicle chassis, the cross-shaped reverser 6 is provided with four transmission output shafts, one transmission output shaft is connected with the motor 8, the transmission output shafts for driving the two wheels 4 on the same side are respectively and fixedly connected with a bevel gear II 10, and the other two transmission output shafts are respectively connected with a sliding gear 9. And a bevel gear I7 of the telescopic universal shaft 1 for driving the two wheels 4 on the same side is respectively in meshed connection with bevel gears II 10 on two transmission output shafts of the cross-shaped reverser 6. Bevel gears I7 of the telescopic universal shaft 1 for driving the two wheels 4 on the other side are respectively in meshed connection with sliding gears 9 on two transmission output shafts of the cross-shaped reverser 6. The sliding gear 9 is formed by oppositely arranging small ends of two identical bevel gears.
As shown in fig. 4, the steering system includes a link 2, a bevel gear a3, a bevel gear B5, and a bearing housing 11. The steering shafts of the four wheels 4 respectively penetrate through the rear connecting bevel gear B5 of the chassis of the vehicle, and the bevel gears B5 on the steering shafts of the two diagonal wheels 4 are respectively meshed and connected with the bevel gears A3 at the two ends of the same connecting rod 2. The two connecting rods 2 are respectively connected to the vehicle chassis through bearing seats 11. The two connecting rods 2 are synchronously driven by a motor through a speed reducer. The two connecting rods 2 can be synchronously driven to rotate by a motor through a speed reducer.
The telescopic universal shaft 1 has the advantages that the telescopic rod can adapt to the change of the distance between the motor and the wheels after steering, so that the transmission can be ensured to be capable of steering at the same time. The wheel can rotate in place by using the universal joint of the telescopic universal shaft 1. The cross-shaped commutator 6 can output power in four directions, and one-drive four-drive is satisfied. The steering system is separated from the driving system, and the steering system transmits horizontal rotation to the wheels through bevel gears to realize in-situ steering of the wheels.
The utility model discloses a device is whole can realize advancing, and the sideslip, the original place is rotatory, realizes the omnidirectional movement. The motor 8 drives the transmission output shafts of the cross-shaped commutator 6 in four directions to rotate, the two bevel gears I7 are matched to realize intersecting shaft transmission, the telescopic universal shaft 1 is driven to rotate, and therefore the wheels 4 are driven to achieve the advancing function.
When needing the sideslip, two connecting rods 2 drive simultaneously, drive bevel gear B5 and rotate 90 degrees to make the four corners wheel rotate 90 degrees simultaneously, scalable cardan shaft 1 makes it rotatory in-process, remains the connected state all the time, still can continue the transmission after rotating 90 degrees.
When the automobile needs to rotate in place, the two connecting rods 2 are driven simultaneously, so that the wheels 4 rotate by proper angles, and the axis lines of the two diagonal wheels 4 pass through the geometric center of the automobile. The sliding gear 9 moves to enable the driving directions of the two diagonal wheels 4 to be opposite, so that the pivot rotation is realized.
Claims (7)
1. A four-wheel drive pivot steering device comprises a driving system and a steering system, wherein the driving system is provided with four wheels which are respectively arranged at four corners under a vehicle chassis and a driving mechanism for driving the four wheels, and wheel shafts of the four wheels are respectively connected with the driving mechanism through a telescopic universal shaft; the driving mechanism is provided with a motor and a middle cross commutator arranged below a vehicle chassis, the cross commutator is provided with four transmission output shafts, wherein one transmission output shaft is connected with the motor, the transmission output shafts for driving two wheels on the same side are respectively and fixedly connected with a bevel gear, the other two transmission output shafts are respectively connected with a sliding gear, one end of the telescopic universal shaft is connected with a wheel shaft of the wheel, and the other end of the telescopic universal shaft is connected with the bevel gear; bevel gears on telescopic universal shafts for driving the two wheels on the same side are respectively in meshed connection with bevel gears on two transmission output shafts of the cross-shaped reverser; bevel gears on telescopic universal shafts driving the two wheels on the other side are respectively in meshed connection with sliding gears on the other two transmission output shafts of the cross-shaped reverser; the steering system is provided with two connecting rods for driving wheels to steer, steering shafts of the four wheels penetrate through a chassis of the vehicle and are connected with bevel gears B, and the bevel gears B on the steering shafts of the two opposite-angle wheels are in meshed connection with the bevel gears A at the two ends of the same connecting rod respectively.
2. The apparatus of claim 1, wherein: the sliding gear is formed by oppositely arranging the small ends of two identical bevel gears.
3. The apparatus of claim 1, wherein: the connecting rod is connected to the vehicle chassis through a bearing seat.
4. The apparatus of claim 1, wherein: the two connecting rods are connected with the speed reducer and the motor, and the motor synchronously drives the speed reducer to rotate.
5. The apparatus of claim 1, wherein: when the vehicle needs to realize the function of advancing, the motor drives the transmission output shafts of the cross commutator in four directions to rotate, and bevel gears on the transmission output shafts are matched to realize crossed shaft transmission to drive the telescopic universal shafts to rotate, so that four wheels are driven to synchronously rotate.
6. The apparatus of claim 1, wherein: when the vehicle needs to move transversely, the two connecting rods drive the bevel gears B5 to rotate 90 degrees, so that the four-corner wheels rotate 90 degrees simultaneously, the telescopic universal shafts enable the four-corner wheels to be always in a connection state in the rotating process, and the four-corner wheels after rotating 90 degrees can still continue to transmit.
7. The apparatus of claim 1, wherein: when the vehicle needs to rotate in place, the two connecting rods are driven simultaneously, the four-corner wheels rotate at proper angles simultaneously, the axial lead of the two diagonal wheels passes through the geometric center of the vehicle, the sliding gear moves, the driving directions of the two diagonal wheels are opposite, and therefore the in-place rotation is achieved.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920775152.7U CN210101317U (en) | 2019-05-27 | 2019-05-27 | One-driving four-action pivot steering device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920775152.7U CN210101317U (en) | 2019-05-27 | 2019-05-27 | One-driving four-action pivot steering device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210101317U true CN210101317U (en) | 2020-02-21 |
Family
ID=69561663
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920775152.7U Expired - Fee Related CN210101317U (en) | 2019-05-27 | 2019-05-27 | One-driving four-action pivot steering device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210101317U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110103704A (en) * | 2019-05-27 | 2019-08-09 | 上海理工大学 | One drives four dynamic Steerring in situ device |
| CN113968102A (en) * | 2021-12-01 | 2022-01-25 | 杭州程天科技发展有限公司 | Sideslip wheel |
-
2019
- 2019-05-27 CN CN201920775152.7U patent/CN210101317U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110103704A (en) * | 2019-05-27 | 2019-08-09 | 上海理工大学 | One drives four dynamic Steerring in situ device |
| CN110103704B (en) * | 2019-05-27 | 2024-07-02 | 上海理工大学 | Driving four-drive in-situ steering device |
| CN113968102A (en) * | 2021-12-01 | 2022-01-25 | 杭州程天科技发展有限公司 | Sideslip wheel |
| CN113968102B (en) * | 2021-12-01 | 2023-09-01 | 杭州程天科技发展有限公司 | Sideslip wheel |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200221 Termination date: 20210527 |