CN112092896A - Locomotive full-steering control system and control method thereof - Google Patents
Locomotive full-steering control system and control method thereof Download PDFInfo
- Publication number
- CN112092896A CN112092896A CN202010799750.5A CN202010799750A CN112092896A CN 112092896 A CN112092896 A CN 112092896A CN 202010799750 A CN202010799750 A CN 202010799750A CN 112092896 A CN112092896 A CN 112092896A
- Authority
- CN
- China
- Prior art keywords
- steering
- rear wheel
- wheel
- 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.)
- Pending
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D3/00—Steering gears
- B62D3/02—Steering gears mechanical
- B62D3/04—Steering gears mechanical of worm type
- B62D3/06—Steering gears mechanical of worm type with screw and nut
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
Abstract
The invention discloses a locomotive full-steering control system and a control method thereof, wherein the locomotive full-steering control system comprises a locomotive body and is characterized in that: the intelligent trolley is characterized in that a front wheel strut is mounted at the bottom of the trolley body, a wheel connecting support is mounted at the bottom of the front wheel strut, a wheel connecting shaft is continuously connected to the bottom of the wheel connecting support, a front wheel is connected to a surface bearing of the wheel connecting shaft, wheel connecting screws are connected to two sides of the wheel connecting shaft in a threaded manner, a steering slot is formed in the top of the wheel connecting support, a threaded hole is formed in the steering slot, a steering rod is mounted in the steering slot, steering rod connecting screw rods are mounted at the bottoms of two sides of the steering rod, steering rod screws are connected to the top of the steering rod connecting screw rods in a threaded manner, and a key I is arranged on the surface of the steering rod.
Description
Technical Field
The invention relates to the technical field of locomotive full-steering control systems, in particular to a locomotive full-steering control system and a control method thereof.
Background
The intelligent vehicle is a new advanced invention, is a high-tech product integrating motor, machinery, computer and motion control, in the future automobile industry, the intelligent vehicle will show its specific wind collecting, the intelligent vehicle is intelligent because it can complete some work with certain danger in specific environment according to the preset program, and does not need artificial management control, completely realizes automation, can play a good role in some dangerous activities, the vehicle can automatically trace the motion track, and can automatically avoid obstacles, if some specific parts are additionally arranged on the vehicle, the vehicle can complete some specific tasks, and Liulong develops the vehicle full-steering design and chassis optimization research based on the hub motor in the aspects of improving the steering operability and the chassis flexibility of the vehicle, firstly, a novel full steering mechanism scheme capable of improving vehicle steering operability is provided, and a novel variable wheelbase and variable wheelbase mechanism scheme capable of improving flexibility of a vehicle chassis is provided, and the existing steering engine is a control mechanism for steering a trolley and has the characteristics of small volume, light weight, large torque, simple external mechanical design, high stability and the like, but the steering radius of steering of the steering engine is too large, the steering engine cannot adapt to work in a narrow environment, the differential steering radius is smaller, even the operation of in-situ steering of the intelligent trolley can be realized, the operation in a narrow space can be realized, but the steering principle of differential steering determines that the differential steering system needs one set of transmission device to realize operation in driving and steering movement, so that the structure of the steering engine becomes more complex, and the realization of the functions also has great difficulty, therefore, the design practicability is strong, and the full steering system can be perfectly combined with the intelligent trolley to realize the steering operation of the intelligent trolley The locomotive full-steering control system and the control method thereof are necessary.
Disclosure of Invention
The present invention is directed to a locomotive full-steering control system and a control method thereof, so as to solve the problems in the background art.
In order to solve the technical problems, the invention provides the following technical scheme: the utility model provides a locomotive turns to control system entirely, includes the automobile body, its characterized in that: the front wheel pillar is installed to the bottom of automobile body, the wheel linking bridge is installed to the bottom of front wheel pillar, the bottom of wheel linking bridge is hit in succession has the wheel connecting axle, the surperficial bearing of wheel connecting axle is connected with the front wheel, the both sides threaded connection of wheel connecting axle has the wheel connection screw, and when needs turned to, steerable wheel linking bridge drove the front wheel and rotates to the direction that needs turned to, and the back wheel provides the power that advances simultaneously, can accomplish and turn to the action.
According to the technical scheme, the steering slot has been seted up at the top of wheel linking bridge, turn to the inside threaded hole that has seted up of slot, the internally mounted who turns to the slot has the steering column, steering column connecting screw is installed to the both sides bottom of steering column, steering column connecting screw's top threaded connection has the steering column screw, the surface of steering column is provided with key one, inserts earlier during the installation and turns to the slot with the steering column in, later with the steering column connecting screw with turn to the screw hole cooperation in the slot, then screw up the steering column screw can, the steering column can drive wheel linking bridge and rotate turning to the in-process steering column to wheel rotation before driving, the completion turns to.
According to the technical scheme, the steering motor is mounted inside the front wheel strut, the third key is arranged on the output shaft of the steering motor, the reducer is connected to the output shaft of the steering motor, the second key groove is formed in the top of the reducer, the second key is arranged on the output shaft of the reducer, the third key and the second key groove are of a matched structure, the reducer is connected with the steering motor and is mainly used for reducing the output rotating speed of the steering motor, the output torque of the steering motor is improved, and the steering system of the trolley can obtain larger force.
According to the technical scheme, be connected with the shaft coupling on the output shaft of reduction gear, keyway one has been seted up to the inside of shaft coupling, the bottom of shaft coupling is connected on the steering column, keyway one is the cooperation structure with key one, and the shaft coupling is used for connecting two upper and lower parts of whole a steering system, and upper portion is to turning to motor and reduction gear part, and the lower part is steering column, wheel linking bridge and preceding wheel part, and the shaft coupling is used for preventing that the lower part from bearing too big load, plays overload protection's effect.
According to the technical scheme, the rear wheel support is installed at the bottom of the vehicle body, the rear wheel ball socket is installed at the bottom of the rear wheel support, the rear wheel is installed inside the rear wheel ball socket and made of rubber, and the rear wheel is a sphere, so that the rear wheel can move to steer in any direction, and the flexibility of the vehicle is improved.
According to the technical scheme, the rear wheel driving motors are uniformly installed in the rear wheel ball sockets and can rotate 360 degrees in the rear wheel ball sockets, so that power in any direction can be provided for the rear wheels, and the rear wheels can move in any direction.
According to the technical scheme, the controller is installed inside the vehicle body and electrically connected with the rear wheel driving motor, the controller is electrically connected with the steering motor, and in the steering process of the vehicle, the controller can control the driving directions of the front wheels and the rear wheels according to different steering requirements so as to control the whole vehicle to steer in an optimal route.
According to the technical scheme, the pneumatic brake sucking disc is installed to the bottom of rear wheel ball socket, the air inlet is installed to one side of pneumatic brake sucking disc, the opposite side trachea of air inlet is connected with the cylinder, the cylinder is connected for the electricity with the controller, and when needs brake operation, the controller control rear wheel driving motor stops the function, and the air pump is opened in simultaneous control, absorbs the inside air of air inlet through the trachea to this makes the pneumatic brake sucking disc can adsorb the rear wheel, accomplishes the brake, and when the vehicle need restart, the controller control cylinder is closed and can be restarted.
A locomotive full-steering control system and a control method thereof are characterized in that:
a. when the vehicle is required to turn, the controller controls the steering motor to rotate, the steering motor controls the front wheels to rotate so as to control the vehicle to turn, if the front wheels do not reach the maximum steering angle during turning, the controller only controls the rear wheel driving motor to provide forward power for the rear wheels, the front wheels provide the steering direction, and the rear wheels provide forward power, so that the vehicle turning can be completed;
b. when the vehicle is required to turn, the controller controls the steering motor to rotate, the steering motor controls the front wheels to rotate so as to control the vehicle to turn, if the front wheels turn to the maximum steering angle during turning, the controller controls the rear wheel driving motor to provide steering power to the rear wheels leftwards or rightwards, so that the rear wheels rotate leftwards or rightwards while advancing, the front wheels are assisted to finish the steering action, and the time for readjusting the vehicle body due to insufficient steering angle is saved;
c. when the vehicle needs to turn around and the space is limited, the controller can control the rear wheel driving motor to provide transverse power for the rear wheels, and meanwhile, the controller can control the steering motor to rotate, so that the front wheels only provide directions and do not provide power, the whole vehicle rotates in situ by taking the front wheels on one side as an axis, and the effect of turning around in situ is achieved.
Compared with the prior art, the invention has the following beneficial effects: the full steering system and the intelligent trolley can be perfectly combined to realize the steering operation of the intelligent trolley,
(1) the right speed reducer is arranged and connected with the motor, and is mainly used for reducing the output rotating speed of the motor and improving the output torque of the motor, so that a steering system of the trolley can obtain larger force;
(2) the controller is arranged, the steering motor and the rear wheel driving motor are arranged, and when steering is needed, the steering motor and the driving motor can be controlled through the controller so as to meet steering requirements under different conditions;
(3) the rear wheel driving motor can rotate 360 degrees in the rear wheel ball socket through the arrangement of the rear wheel ball socket and the rear wheel, so that power in any direction can be provided for the rear wheel, the rear wheel can move in any direction, the rear wheel driving motor can provide forward power for the rear wheel in a driving state, and the rear wheel driving motor can provide lateral power for the rear wheel when auxiliary steering is needed, so that the rear wheel driving motor can assist the front wheel to complete steering action;
(4) through being provided with pneumatic brake sucking disc, when needs brake operation, the controller control rear wheel drive motor stop work, and the air pump is opened in the simultaneous control, absorbs the inside air of air inlet through the trachea to this makes pneumatic brake sucking disc can adsorb the rear wheel, accomplishes the brake, and when the vehicle need restart once more, the controller control cylinder is closed and can be restarted.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic overall elevational view of the present invention;
FIG. 2 is a schematic view of a partial structure of the region B of the present invention;
FIG. 3 is a schematic structural view of the rear wheel of the present invention;
FIG. 4 is a schematic structural view of a rear wheel socket of the present invention;
FIG. 5 is a cross-sectional structural schematic view of the rear wheel socket of the present invention;
FIG. 6 is an exploded view of the structure of the region A of the present invention
In the figure: 1. a vehicle body; 2. a cylinder; 3. a rear wheel strut; 4. a rear wheel; 5. a rear wheel ball socket; 6. an air inlet; 7. a rear wheel drive motor; 8. a pneumatic brake sucker; 9. a front wheel; 10. a wheel connecting shaft; 11. a wheel connecting screw; 12. the wheel is connected with the bracket; 13. a steering slot; 14. a steering lever; 15. the steering rod is connected with the screw rod; 16. a steering rod screw; 17. a first key; 18. a coupling; 19. a first key groove; 20. a speed reducer; 21. a second key; 22. a second key groove; 23. a key three; 24. a steering motor; 25. a front wheel strut; 26. and a controller.
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.
Referring to fig. 1-6, the present invention provides the following technical solutions: the utility model provides a locomotive turns to control system entirely, includes automobile body 1 which characterized in that: the bottom of the vehicle body 1 is provided with a front wheel pillar 25, the bottom of the front wheel pillar 25 is provided with a wheel connecting support 12, the bottom of the wheel connecting support 12 is connected with a wheel connecting shaft 10 in a continuous striking mode, a surface bearing of the wheel connecting shaft 10 is connected with a front wheel 9, two sides of the wheel connecting shaft 10 are in threaded connection with wheel connecting screws 11, when steering is needed, the wheel connecting support 12 can be controlled to drive the front wheel 9 to rotate towards the direction needing steering, and meanwhile, the rear wheel 4 provides advancing power, so that steering action can be completed;
the top of the wheel connecting support 12 is provided with a steering slot 13, the inside of the steering slot 13 is provided with a threaded hole, the inside of the steering slot 13 is provided with a steering rod 14, the bottoms of the two sides of the steering rod 14 are provided with steering rod connecting screw rods 15, the top of the steering rod connecting screw rods 15 is in threaded connection with steering rod screws 16, the surface of the steering rod 14 is provided with a key I17, the steering rod 14 is firstly inserted into the steering slot 13 during installation, then the steering rod connecting screw rods 15 are matched with the threaded hole in the steering slot 13, then the steering rod screws 16 are tightened, and the steering rod 14 can drive the wheel connecting support 12 to rotate in the steering process, so that the front wheel 9 is driven to rotate, and steering is completed;
a steering motor 24 is arranged in the front wheel strut 25, a key III 23 is arranged on an output shaft of the steering motor 24, a speed reducer 20 is connected on the output shaft of the steering motor 24, a key groove II 22 is arranged at the top of the speed reducer 20, a key II 21 is arranged on the output shaft of the speed reducer 20, the key III 23 and the key groove II 22 are in a matching structure, the speed reducer 20 is connected with the steering motor 24 and is mainly used for reducing the output rotating speed of the steering motor 24 and improving the output torque of the steering motor 24, so that a steering system of the trolley can obtain larger force;
the output shaft of the speed reducer 20 is connected with a coupler 18, a first key groove 19 is formed in the coupler 18, the bottom of the coupler 18 is connected to the steering rod 14, the first key groove 19 and a first key 17 are of a matching structure, the coupler 18 is used for connecting an upper portion and a lower portion of the whole steering system, the upper portion is a steering motor 24 and the speed reducer 20, the lower portion is the steering rod 14, the wheel connecting support 12 and the front wheel 9, and the coupler 18 is used for preventing the lower portion from bearing an overlarge load and playing a role in overload protection;
the bottom of the vehicle body 1 is provided with a rear wheel support 3, the bottom of the rear wheel support 3 is provided with a rear wheel ball socket 5, a rear wheel 4 is arranged inside the rear wheel ball socket 5, the rear wheel 4 is made of rubber, and the rear wheel 4 is a sphere, so that the rear wheel 4 can move and steer in any direction, and the flexibility of the vehicle is improved;
the rear wheel driving motor 7 is uniformly arranged in the rear wheel ball socket 5, and the rear wheel driving motor 7 can rotate in the rear wheel ball socket 5 by 360 degrees, so that power in any direction can be provided for the rear wheel 4, and the rear wheel 4 can move in any direction;
the controller 26 is arranged in the vehicle body 1, the controller 26 is electrically connected with the rear wheel driving motor 7, the controller 26 is electrically connected with the steering motor 24, and in the steering process of the vehicle, the controller 26 can control the driving directions of the front wheels 9 and the rear wheels 4 according to different steering requirements so as to control the whole vehicle to steer in an optimal route;
the bottom of the rear wheel ball socket 5 is provided with a pneumatic brake sucker 8, one side of the pneumatic brake sucker 8 is provided with an air inlet 6, the other side of the air inlet 6 is connected with an air pipe 2, the air pipe 2 is electrically connected with a controller 26, when the brake operation is needed, the controller 26 controls the rear wheel driving motor 7 to stop operating, and simultaneously controls the air pump 2 to be opened, so that the air in the air inlet 6 is absorbed through the air pipe, the pneumatic brake sucker 8 can adsorb the rear wheel 4 to complete the brake, and when the vehicle needs to be restarted, the controller 26 controls the air pipe 2 to be closed to restart the vehicle;
a locomotive full-steering control system and a control method thereof are characterized in that:
a. when the vehicle is required to turn, the controller 26 controls the turning motor 24 to rotate, the turning motor 24 controls the front wheels 9 to rotate so as to control the vehicle to turn, if the front wheels 9 do not reach the maximum turning angle during turning, the controller 26 only controls the rear wheel driving motor 7 to provide forward power for the rear wheels 4, the front wheels 9 provide the turning direction, and the rear wheels 4 provide forward power, so that the vehicle turning can be completed;
b. when the vehicle is required to turn, the controller 26 controls the steering motor 24 to rotate, the steering motor 24 controls the front wheels 9 to rotate so as to control the vehicle to turn, if the front wheels 9 turn to the maximum steering angle, the controller 26 controls the rear wheel driving motor 7 to provide left or right steering power for the rear wheels 4, so that the rear wheels 4 rotate leftwards or rightwards while advancing, the front wheels 9 are assisted to complete the steering action, and the time for readjusting the vehicle body due to insufficient steering angle is saved;
c. when the vehicle needs to turn around and the space is limited, the controller 26 can control the rear wheel driving motor 7 to provide transverse power for the rear wheels 4, and meanwhile, the controller 26 can control the steering motor 24 to rotate, so that the front wheels 9 only provide directions and do not provide power, and the whole vehicle rotates in situ by taking the front wheels 9 on one side as an axis, thereby achieving the effect of turning around in situ.
The working principle is as follows: the first embodiment is as follows:
when needing to turn, the controllable wheel link bracket 12 drives the front wheel 9 to turn to the direction that needs to turn to rotate, the rear wheel 4 provides the power that advances at the same time, can finish turning, insert the steering column 14 into turning the slot 13 first during installation, after turn the connecting screw 15 of the steering column to cooperate with the threaded hole in turning the slot 13, then tighten the screw 16 of the steering column, the steering column 14 will drive the wheel link bracket 12 to rotate in the course of turning, thus drive the front wheel 9 to rotate, finish turning, the decelerator 20 is connected with steering motor 24, mainly used for reducing the output speed of the steering motor 24, improve the output torque of the steering motor 24, make the steering system of the dolly obtain the greater power, the shaft coupling 18 is used for connecting the upper and lower two parts of the whole steering system, the upper part is the steering motor 24 and the decelerator 20 part, the lower part is the steering column 14, The wheel is connected with the bracket 12 and the front wheel 9 part, the coupling 18 is used for preventing the lower part from bearing overlarge load and playing a role of overload protection, the rear wheel 4 is a sphere, therefore, the rear wheel 4 can move and turn to any direction, the flexibility of the vehicle is improved, the rear wheel driving motor 7 can rotate in 360 degrees in the rear wheel ball socket 5, therefore, power in any direction can be provided for the rear wheel 4, so that the rear wheel 4 can move to any direction, in the turning process of the vehicle, the controller 26 can control the driving directions of the front wheel 9 and the rear wheel 4 according to different turning requirements, so as to control the whole vehicle to turn to the optimal route, when braking operation is needed, the controller 26 controls the rear wheel driving motor 7 to stop operating, simultaneously controls the air pump 2 to be opened, air in the air inlet 6 is absorbed through the air pipe, so that the pneumatic brake sucker 8 can absorb the rear wheel 4, when the braking is finished and the vehicle needs to be restarted, the controller 26 controls the cylinder 2 to be closed and then can be restarted, when the vehicle needs to be turned, the controller 26 controls the turning motor 24 to rotate, the turning motor 24 controls the front wheels 9 to rotate so as to control the turning of the vehicle, if the front wheels 9 do not reach the maximum turning angle during the turning, the controller 26 only controls the rear wheel driving motor 7 to provide forward power for the rear wheels 4, the front wheels 9 provide the turning direction, and the rear wheels 4 provide forward power, so that the turning of the vehicle can be finished.
Example two:
when needing to turn, the controllable wheel link bracket 12 drives the front wheel 9 to turn to the direction that needs to turn to rotate, the rear wheel 4 provides the power that advances at the same time, can finish turning, insert the steering column 14 into turning the slot 13 first during installation, after turn the connecting screw 15 of the steering column to cooperate with the threaded hole in turning the slot 13, then tighten the screw 16 of the steering column, the steering column 14 will drive the wheel link bracket 12 to rotate in the course of turning, thus drive the front wheel 9 to rotate, finish turning, the decelerator 20 is connected with steering motor 24, mainly used for reducing the output speed of the steering motor 24, improve the output torque of the steering motor 24, make the steering system of the dolly obtain the greater power, the shaft coupling 18 is used for connecting the upper and lower two parts of the whole steering system, the upper part is the steering motor 24 and the decelerator 20 part, the lower part is the steering column 14, The wheel is connected with the bracket 12 and the front wheel 9 part, the coupling 18 is used for preventing the lower part from bearing overlarge load and playing a role of overload protection, the rear wheel 4 is a sphere, therefore, the rear wheel 4 can move and turn to any direction, the flexibility of the vehicle is improved, the rear wheel driving motor 7 can rotate in 360 degrees in the rear wheel ball socket 5, therefore, power in any direction can be provided for the rear wheel 4, so that the rear wheel 4 can move to any direction, in the turning process of the vehicle, the controller 26 can control the driving directions of the front wheel 9 and the rear wheel 4 according to different turning requirements, so as to control the whole vehicle to turn to the optimal route, when braking operation is needed, the controller 26 controls the rear wheel driving motor 7 to stop operating, simultaneously controls the air pump 2 to be opened, air in the air inlet 6 is absorbed through the air pipe, so that the pneumatic brake sucker 8 can absorb the rear wheel 4, the braking is completed, when the vehicle needs to be restarted, the controller 26 controls the cylinder 2 to be closed, and then the vehicle can be restarted, when the vehicle needs to be steered, the controller 26 controls the steering motor 24 to rotate, the steering motor 24 controls the front wheels 9 to rotate so as to control the steering of the vehicle, if the front wheels 9 are steered to the maximum steering angle, the controller 26 controls the rear wheel driving motor 7 to provide steering power to the rear wheels 4 leftwards or rightwards, so that the rear wheels 4 rotate leftwards or rightwards when advancing, the steering action of the front wheels 9 can be completed by assisting, and the time for readjusting the vehicle body due to insufficient steering angle is saved.
Example three:
when needing to turn, the controllable wheel link bracket 12 drives the front wheel 9 to turn to the direction that needs to turn to rotate, the rear wheel 4 provides the power that advances at the same time, can finish turning, insert the steering column 14 into turning the slot 13 first during installation, after turn the connecting screw 15 of the steering column to cooperate with the threaded hole in turning the slot 13, then tighten the screw 16 of the steering column, the steering column 14 will drive the wheel link bracket 12 to rotate in the course of turning, thus drive the front wheel 9 to rotate, finish turning, the decelerator 20 is connected with steering motor 24, mainly used for reducing the output speed of the steering motor 24, improve the output torque of the steering motor 24, make the steering system of the dolly obtain the greater power, the shaft coupling 18 is used for connecting the upper and lower two parts of the whole steering system, the upper part is the steering motor 24 and the decelerator 20 part, the lower part is the steering column 14, The wheel is connected with the bracket 12 and the front wheel 9 part, the coupling 18 is used for preventing the lower part from bearing overlarge load and playing a role of overload protection, the rear wheel 4 is a sphere, therefore, the rear wheel 4 can move and turn to any direction, the flexibility of the vehicle is improved, the rear wheel driving motor 7 can rotate in 360 degrees in the rear wheel ball socket 5, therefore, power in any direction can be provided for the rear wheel 4, so that the rear wheel 4 can move to any direction, in the turning process of the vehicle, the controller 26 can control the driving directions of the front wheel 9 and the rear wheel 4 according to different turning requirements, so as to control the whole vehicle to turn to the optimal route, when braking operation is needed, the controller 26 controls the rear wheel driving motor 7 to stop operating, simultaneously controls the air pump 2 to be opened, air in the air inlet 6 is absorbed through the air pipe, so that the pneumatic brake sucker 8 can absorb the rear wheel 4, the brake is completed, when the vehicle needs to be restarted, the controller 26 controls the cylinder 2 to be closed, and then the vehicle can be restarted, when the vehicle needs to turn around and the space is limited, the controller 26 can control the rear wheel driving motor 7 to provide transverse power for the rear wheels 4, and meanwhile, the controller 26 can control the steering motor 24 to rotate, so that the front wheels 9 only provide directions and do not provide power, the whole vehicle rotates in situ by taking the front wheels 9 on one side as the axis, and the effect of turning around in situ is achieved.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. The utility model provides a locomotive turns to control system entirely, includes automobile body (1), its characterized in that: front wheel pillar (25) are installed to the bottom of automobile body (1), wheel linking bridge (12) are installed to the bottom of front wheel pillar (25), the bottom of wheel linking bridge (12) is hit even has wheel connecting axle (10), the surface bearing of wheel connecting axle (10) is connected with front wheel (9), the both sides threaded connection of wheel connecting axle (10) has wheel connection screw (11).
2. The locomotive full steering control system of claim 1, wherein: the top of wheel linking bridge (12) has been seted up and has been turned to slot (13), turn to the inside threaded hole of seting up of slot (13), the internally mounted who turns to slot (13) has steering column (14), steering column connecting screw (15) are installed to the both sides bottom of steering column (14), the top threaded connection of steering column connecting screw (15) has steering column screw (16), the surface of steering column (14) is provided with key (17).
3. The locomotive full steering control system of claim 1, wherein: the front wheel structure is characterized in that a steering motor (24) is mounted inside the front wheel support column (25), a third key (23) is arranged on an output shaft of the steering motor (24), a speed reducer (20) is connected to the output shaft of the steering motor (24), a second key groove (22) is arranged at the top of the speed reducer (20), a second key (21) is arranged on the output shaft of the speed reducer (20), and the third key (23) and the second key groove (22) are of a matched structure.
4. The locomotive full steering control system of claim 3, wherein: the output shaft of the speed reducer (20) is connected with a coupler (18), a first key groove (19) is formed in the coupler (18), the bottom of the coupler (18) is connected to the steering rod (14), and the first key groove (19) and the first key (17) are of a matched structure.
5. The locomotive full steering control system of claim 1, wherein: the rear wheel support (3) is installed to the bottom of automobile body (1), rear wheel ball socket (5) is installed to the bottom of rear wheel support (3), the internally mounted of rear wheel ball socket (5) has rear wheel (4), rear wheel (4) are the rubber material.
6. The locomotive full steering control system of claim 5, wherein: and a rear wheel driving motor (7) is uniformly arranged in the rear wheel ball socket (5).
7. The locomotive full steering control system of claim 1, wherein: the automobile body (1) internally mounted has controller (26), controller (26) and rear wheel drive motor (7) are the electricity and are connected, controller (26) and turn to motor (24) and be connected.
8. The locomotive full steering control system of claim 5, wherein: pneumatic brake sucking disc (8) are installed to the bottom of rear wheel ball socket (5), air inlet (6) are installed to one side of pneumatic brake sucking disc (8), the opposite side trachea of air inlet (6) is connected with cylinder (2), cylinder (2) are the electricity with controller (26) and are connected.
9. A control method of a locomotive full-steering control system is characterized by comprising the following steps:
a. when the vehicle is required to steer, the controller (26) controls the steering motor (24) to rotate, the steering motor (24) controls the front wheels (9) to rotate so as to control the vehicle to steer, and if the front wheels (9) do not reach the maximum steering angle during steering, the controller (26) only controls the rear wheel driving motor (7) to provide forward power for the rear wheels (4);
b. when the vehicle is required to steer, the controller (26) controls the steering motor (24) to rotate, the steering motor (24) can control the front wheels (9) to rotate so as to control the vehicle to steer, if the front wheels (9) steer to the maximum steering angle, the controller (26) can control the rear wheel driving motor (7) to provide steering power to the rear wheels (4) leftwards or rightwards, so that the rear wheels (4) move forwards and rotate leftwards or rightwards at the same time, the steering action of the front wheels (9) can be completed, and the time for readjusting the vehicle body due to insufficient steering angle is saved;
c. when the vehicle needs to turn around and the space is limited, the controller (26) can control the rear wheel driving motor (7) to provide transverse power for the rear wheels (4), and meanwhile, the controller (26) can control the steering motor (24) to rotate, so that the front wheels (9) only provide directions and do not provide power, the whole vehicle rotates in situ by taking the front wheels (9) on one side as an axis, and the effect of turning around in situ is achieved.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010799750.5A CN112092896A (en) | 2020-08-11 | 2020-08-11 | Locomotive full-steering control system and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010799750.5A CN112092896A (en) | 2020-08-11 | 2020-08-11 | Locomotive full-steering control system and control method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112092896A true CN112092896A (en) | 2020-12-18 |
Family
ID=73754432
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010799750.5A Pending CN112092896A (en) | 2020-08-11 | 2020-08-11 | Locomotive full-steering control system and control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112092896A (en) |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB871358A (en) * | 1959-04-17 | 1961-06-28 | Atomic Energy Authority Uk | Improvements in or relating to steerable trucks |
| CN101716954A (en) * | 2009-11-24 | 2010-06-02 | 深圳职业技术学院 | Electric automobile with independently steered and driven wheels and steering and drive control method thereof |
| JP2010247760A (en) * | 2009-04-17 | 2010-11-04 | Yanmar Co Ltd | Vehicle |
| CN202320463U (en) * | 2011-10-25 | 2012-07-11 | 汪洋 | Electromobile |
| CN103802657A (en) * | 2014-03-11 | 2014-05-21 | 太仓明静纺织有限公司 | Spherical wheel driving system |
| CN107054455A (en) * | 2017-06-05 | 2017-08-18 | 李国鹏 | Transfer, advance system and vehicle |
| CN107685591A (en) * | 2017-09-30 | 2018-02-13 | 中北大学 | A kind of driving structure based on spherical tire |
| CN107972725A (en) * | 2017-12-26 | 2018-05-01 | 衡阳合力工业车辆有限公司 | A kind of steering control system and four-wheel automobile |
| CN207328722U (en) * | 2017-08-22 | 2018-05-08 | 孙建 | A kind of steering mechanism of intelligent electric tricycle |
| KR101986448B1 (en) * | 2018-01-16 | 2019-06-05 | 순천대학교 산학협력단 | Ball tire driving system |
| CN110194209A (en) * | 2018-02-26 | 2019-09-03 | 北京京东尚科信息技术有限公司 | Drive steering mechanism, car body train driving device and control method, vehicle |
| CN110194232A (en) * | 2019-06-27 | 2019-09-03 | 河南理工大学 | A kind of intelligent early-warning shield lane robot vehicle |
-
2020
- 2020-08-11 CN CN202010799750.5A patent/CN112092896A/en active Pending
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB871358A (en) * | 1959-04-17 | 1961-06-28 | Atomic Energy Authority Uk | Improvements in or relating to steerable trucks |
| JP2010247760A (en) * | 2009-04-17 | 2010-11-04 | Yanmar Co Ltd | Vehicle |
| CN101716954A (en) * | 2009-11-24 | 2010-06-02 | 深圳职业技术学院 | Electric automobile with independently steered and driven wheels and steering and drive control method thereof |
| CN202320463U (en) * | 2011-10-25 | 2012-07-11 | 汪洋 | Electromobile |
| CN103802657A (en) * | 2014-03-11 | 2014-05-21 | 太仓明静纺织有限公司 | Spherical wheel driving system |
| CN107054455A (en) * | 2017-06-05 | 2017-08-18 | 李国鹏 | Transfer, advance system and vehicle |
| CN207328722U (en) * | 2017-08-22 | 2018-05-08 | 孙建 | A kind of steering mechanism of intelligent electric tricycle |
| CN107685591A (en) * | 2017-09-30 | 2018-02-13 | 中北大学 | A kind of driving structure based on spherical tire |
| CN107972725A (en) * | 2017-12-26 | 2018-05-01 | 衡阳合力工业车辆有限公司 | A kind of steering control system and four-wheel automobile |
| KR101986448B1 (en) * | 2018-01-16 | 2019-06-05 | 순천대학교 산학협력단 | Ball tire driving system |
| CN110194209A (en) * | 2018-02-26 | 2019-09-03 | 北京京东尚科信息技术有限公司 | Drive steering mechanism, car body train driving device and control method, vehicle |
| CN110194232A (en) * | 2019-06-27 | 2019-09-03 | 河南理工大学 | A kind of intelligent early-warning shield lane robot vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109664702B (en) | Automotive suspension system and four-wheel independent steering distributed driving chassis platform | |
| CN105667587B (en) | A kind of walking steering mechanism of electric car | |
| CA2660090C (en) | Hybrid vehicle | |
| CN105835945A (en) | Steering mechanism and wheeled robot including same | |
| CN205311696U (en) | Full steering mechanism of electric motor car | |
| CN109677221B (en) | Virtual kingpin suspension system through wheel center | |
| CN107215386A (en) | The electric vehicle system that a kind of four motorized wheels and independent omnidirectional turn to | |
| CN103496396A (en) | Novel energy-saving differential power-assisted steering system of electric wheel automobile and control method thereof | |
| CN109664701B (en) | Distributed driving chassis platform for realizing four-wheel independent steering | |
| CN112092896A (en) | Locomotive full-steering control system and control method thereof | |
| CN212667480U (en) | Steering mechanism of wheeled robot chassis | |
| CN113276939A (en) | Independent steering independent driving modular wheel type movement unit system | |
| CN216861682U (en) | Steering modular mechanism capable of adjusting inclination angle of main pin and camber angle of wheel | |
| CN200971108Y (en) | Adjustable mechanism for gear wheel of vehicle | |
| CN209852000U (en) | Virtual king pin suspension system penetrating through wheel center | |
| CN209634203U (en) | A kind of distributed driving chassis platform for realizing four-wheel independent steering | |
| CN203172721U (en) | Integrated drive-by-wire independent steering double-trailing-arm suspension guide mechanism system | |
| CN206938376U (en) | Anti- body roll actuator | |
| CN218986754U (en) | AGV dolly chassis based on drive differential steering mechanism | |
| CN210733861U (en) | Safety brake device of unmanned scooter | |
| CN221214448U (en) | Transmission connection mechanism of tricycle | |
| CN220096452U (en) | Steering control structure externally arranged on steering gear box | |
| CN203126939U (en) | Integrated line control independent steering guide mechanism system for Macpherson suspension frame | |
| CN2241662Y (en) | Steering rod type deflector | |
| CN219096805U (en) | Steering structure suitable for off-road vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20211020 Address after: 224000 No. 1 Hope Avenue Middle Road, Tinghu District, Yancheng City, Jiangsu Province Applicant after: YANCHENG INSTITUTE OF TECHNOLOGY Applicant after: Yancheng Institute of Technology Technology Transfer Center Co.,Ltd. Address before: 224000 No. 1 Hope Avenue Middle Road, Tinghu District, Yancheng City, Jiangsu Province Applicant before: YANCHENG INSTITUTE OF TECHNOLOGY |
|
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20201218 |