CN202827710U - Novel four-wheel steering system controlled by four servos - Google Patents
Novel four-wheel steering system controlled by four servos Download PDFInfo
- Publication number
- CN202827710U CN202827710U CN 201220288184 CN201220288184U CN202827710U CN 202827710 U CN202827710 U CN 202827710U CN 201220288184 CN201220288184 CN 201220288184 CN 201220288184 U CN201220288184 U CN 201220288184U CN 202827710 U CN202827710 U CN 202827710U
- Authority
- CN
- China
- Prior art keywords
- steering
- wheel
- wheels
- servos
- novel
- 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.)
- Expired - Fee Related
Links
- 238000005516 engineering process Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Images
Landscapes
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
Abstract
The utility model relates to a novel four-wheel steering system controlled by four servos. The novel four-wheel steering system controlled by the four servos is mainly composed of four wheels, four direct current deceleration drive motors, four steering engines, four servo supports, four motor supports and corresponding control circuit boards. The novel four-wheel steering system controlled by the four servos is characterized in that 9s12 series singlechips are adopted by the system for centralized control and dispersed modular design, every wheel is in fixed connection with one servo support used for the steering engine and one motor support, the servo support for the steering engine and the motor support are adjacent to the wheel, every servo which is connected with one wheel is responsible for steering control, and every wheel is supplied by one drive motor which is connected with the wheel with power. The four steering servos are connected with the singlechips, steering of the steering engines is controlled by the singlechips so that independent steering of the four wheels is achieved. Furthermore, the four wheels can all rotate toward the left and the right at an angle of 0-90 degrees, so that the functions of the whole bodywork such as rotating and changing directions at the same site, moving obliquely, turning at a minimum radius and traveling transversely are achieved.
Description
Technical field
The invention belongs to intelligent vehicle four-wheel steering technical field, relate to a kind of Electromechanical Control technology, particularly relate to a kind of intelligent apparatus of the novel four-wheel steering system by four steering wheels control.
Background technology
At present, steering technique generally all be that two-wheeled turns to, the shortcoming such as two-wheeled turns to have and turns to the space that needs large, and is convenient not and flexible.And the four-wheel steering technology is also among further developing, existing four-wheel steering system generally all is the handling maneuver of controlling trailing wheel by being installed in electronically controlled motors actuate actuators in the rear axle housing, the generation of its control command is derived from the electronic control unit ECU of sensor and complexity, and the control of front-wheel is still by the mechanical linkage maneuverability pattern, the four-wheel steering technology just can not be given full play to it and has flexibly stable characteristic like this, and existing four-wheel steering technology is applied on the vehicle fully.
Summary of the invention
The utility model is a kind of novel four-wheel steering system by the control of four steering wheels.System is mainly by 4 wheels, 4 direct current deceleration motors, and 4 steering engines and corresponding control circuit board form; It is characterized in that: system adopts 9s12 series monolithic centralized control and dispersed modules design, each wheel is captiveed joint with electric machine support with the steering wheel support with that steering engine that is adjacent, each wheel is responsible for control by a coupled steering wheel and is turned to, and each wheel is by a coupled driving motor supplies power; Four steering engines are connected with micro controller system, by turning to of Single-chip Controlling steering engine, thereby realize the independent steering of four wheels, and make four wheel left/right rotations to the rotations that all can reach 0-90 degree, realize that the original place rotation of whole vehicle body is turned around, diagonal, minimum radius is turned and the function of cross running.Simultaneity factor arranges that original place rotation is turned around, diagonal, minimum radius is turned and four kinds of coomand modes of cross running namely: under vehicle body keeping parallelism handling maneuver state, rear-axle steering is identical with front-wheel steering, can realize fast stable forward parallel, thereby the movement of realization fast and stable; When rear-axle steering was opposite with front-wheel steering, the turn radius in the time of can reducing low speed driving largely was convenient to narrow road surface and is carried out U-shaped turning; When four wheels turn to certain angle separately, the contact point on four wheels and ground when same concentric circles, be implemented in narrow road surface progressive type and turn, thereby realize that spot turn turns to; When four wheel steerings are mutually 90 when spending in movable body, can realize cross running.
Technique effect of the present utility model is: the utility model system not only has the collaborative function that turns to of front and back wheel, also contained the in the market technical functionality of different phase, middle phase place and synchronous four-wheel steering, four-wheel steering technology of the present utility model well can be applied on the vehicle simultaneously, be difficult for the predicament used at vehicle thereby solve other four-wheel steering technology; Four-wheel steering system of the present utility model is applied to can increase on the vehicle body accuracy of vehicle mobile and the alerting ability that turns to and information control, thereby the spot turn of realizing vehicle body turns to, diagonal and the function such as walk crosswise, and the turn radius can reduce low vehicle speeds time the, steering stability when improving high vehicle speeds, solve the vehicle technical barrier such as difficult that turns around in narrow location.
Description of drawings
Fig. 1 is the structural representation of the four-wheel steering system of the utility model four steering wheels control.
Fig. 2 is the principle of work diagram of circuit of the four-wheel steering system of the utility model four steering wheels control.
Among the figure: 1. wheel, 2. steering engine 3. drive motor 4. steering wheel supports 5. electric machine supports.
The specific embodiment
Below be the preferred embodiments of the utility model patent, therefore do not limit protection domain of the present utility model.
See accompanying drawing 1, the utility model mainly is comprised of wheel 1, steering engine 2, drive motor 3, steering wheel support 4 and electric machine support 5.It is characterized in that: those steering engine 2 usefulness steering wheel supports 4 that each wheel 1 is adjacent are captiveed joint with electric machine support 5, and each wheel 1 has the 2 responsible controls of a steering engine to turn to, and each wheel 1 has a drive motor 3 that power is provided; Four steering engines 2 are connected with singlechip controller, by turning to of Single-chip Controlling steering engine 2, thereby realize the independent steering of four wheels 1, make four wheels 1 and all can reach the rotations of 0-90 degree left and to the right, realize that the original place rotation of whole vehicle body is turned around, diagonal, minimum radius is turned and the function of cross running.Simultaneity factor arranges that original place rotation is turned around, diagonal, minimum radius is turned and four kinds of coomand modes of cross running namely: under vehicle body keeping parallelism handling maneuver state, rear-axle steering is identical with front-wheel steering, can realize stablizing forward parallel fast; When rear-axle steering is opposite with front-wheel steering, the turn radius in the time of can reducing low speed driving largely; When four wheels 1 turn to certain angle separately, the contact point on four wheels 1 and ground when same concentric circles, be implemented in narrow road surface and carry out zero type and turn, thereby realize that spot turn turns to; Be mutually 90 when spending when four wheels 1 turn on movable body, can realize cross running.
Claims (1)
1. novel four-wheel steering system by four steering wheels control, mainly by 4 wheels, 4 direct current deceleration motors, 4 steering engines, 4 steering wheel supports, 4 electric machine supports and corresponding control circuit board form; It is characterized in that: system adopts 9s12 series monolithic centralized control and dispersed modules design, each wheel is captiveed joint with electric machine support with the steering wheel support with that steering engine that is adjacent, each wheel is responsible for control by a coupled steering wheel and is turned to, and each wheel is by a coupled driving motor supplies power; Four steering engines are connected with micro controller system, by turning to of Single-chip Controlling steering engine, thereby realize the independent steering of four wheels, and make four wheels and all can reach the rotations of 0-90 degree left and to the right, realize that the original place rotation of whole vehicle body is turned around, diagonal, minimum radius is turned and the function of cross running.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220288184 CN202827710U (en) | 2012-06-19 | 2012-06-19 | Novel four-wheel steering system controlled by four servos |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220288184 CN202827710U (en) | 2012-06-19 | 2012-06-19 | Novel four-wheel steering system controlled by four servos |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202827710U true CN202827710U (en) | 2013-03-27 |
Family
ID=47939479
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220288184 Expired - Fee Related CN202827710U (en) | 2012-06-19 | 2012-06-19 | Novel four-wheel steering system controlled by four servos |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202827710U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103661660A (en) * | 2013-12-09 | 2014-03-26 | 上海德圣米高电梯有限公司 | Four-wheel independent drive transfer trolley |
| CN106515854A (en) * | 2015-09-13 | 2017-03-22 | 吴昊天 | Four-wheel drive vehicle chassis |
| CN107444101A (en) * | 2017-05-03 | 2017-12-08 | 北京理工大学 | A kind of unmanned platform of all-wheel steering by In-wheel motor driving |
| CN109302925A (en) * | 2018-11-09 | 2019-02-05 | 山东农业大学 | A vision-aided garlic seedling automatic membrane breaking machine and membrane breaking method |
| CN109625085A (en) * | 2019-01-30 | 2019-04-16 | 华通科技有限公司 | A kind of wheeled automated steering method of independent suspension |
| CN110497960A (en) * | 2019-08-15 | 2019-11-26 | 公安部第一研究所 | A robot in-situ steering system and a robot mobile platform |
-
2012
- 2012-06-19 CN CN 201220288184 patent/CN202827710U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103661660A (en) * | 2013-12-09 | 2014-03-26 | 上海德圣米高电梯有限公司 | Four-wheel independent drive transfer trolley |
| CN106515854A (en) * | 2015-09-13 | 2017-03-22 | 吴昊天 | Four-wheel drive vehicle chassis |
| CN107444101A (en) * | 2017-05-03 | 2017-12-08 | 北京理工大学 | A kind of unmanned platform of all-wheel steering by In-wheel motor driving |
| CN107444101B (en) * | 2017-05-03 | 2019-09-06 | 北京理工大学 | An all-wheel steering unmanned platform driven by hub motors |
| CN109302925A (en) * | 2018-11-09 | 2019-02-05 | 山东农业大学 | A vision-aided garlic seedling automatic membrane breaking machine and membrane breaking method |
| CN109625085A (en) * | 2019-01-30 | 2019-04-16 | 华通科技有限公司 | A kind of wheeled automated steering method of independent suspension |
| CN109625085B (en) * | 2019-01-30 | 2020-05-19 | 国网宁夏电力有限公司检修公司 | Independent suspension wheel type intelligent steering method |
| CN110497960A (en) * | 2019-08-15 | 2019-11-26 | 公安部第一研究所 | A robot in-situ steering system and a robot mobile platform |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN202827710U (en) | Novel four-wheel steering system controlled by four servos | |
| KR101004957B1 (en) | 4-wheel drive and 4-wheel steering omnidirectional driving robot system using motor | |
| CN103332236B (en) | A kind of mobile device of robot | |
| CN103204448B (en) | Piling car with rotatable pallet fork | |
| CN109263717A (en) | A kind of multi-mode steering-by-wire automobile and its rotating direction control method | |
| KR101218337B1 (en) | The three-wheel electric vehicle | |
| HK1219078A1 (en) | Self-balancing vehicle | |
| CN204020566U (en) | A kind of driving device of four-wheel drive vehicle | |
| CN107878170A (en) | Mechanical and automatically controlled steering, concentrate and the combined vehicle chassis architecture of independent electric drive | |
| CN103496396A (en) | Novel energy-saving differential power-assisted steering system of electric wheel automobile and control method thereof | |
| CN107310623A (en) | The dual-motor electric servo steering system and power-assisted steering method of a kind of parallel-connection structure | |
| CN207173274U (en) | Bi-motor four-wheel driven electric vehicle and electric vehicle control system | |
| CN205890972U (en) | Electric automobile intelligence corner drive arrangement | |
| CN101088834A (en) | Omnibearing servo magnetic wheel type four-wheel drive vehicle | |
| CN201120855Y (en) | Control device for four-wheel drive of electric automobile | |
| CN109955895A (en) | A kind of special-purpose vehicle multi-mode steering control hydraulic system | |
| CN102009691A (en) | Pivot steering and universal running system | |
| CN103495968A (en) | Chassis mechanism for mobile welding robot | |
| CN203228845U (en) | Four-wheel electric steering control system for forklift | |
| CN204319757U (en) | A kind of vehicle structure | |
| CN205574046U (en) | Four wheel steering's electric automobile | |
| CN204895564U (en) | Can realize that pirouette is to dilly drive mechanism who transversely passes in and out parking stall | |
| CN203449966U (en) | Differentially driven mobile robot chassis mechanism | |
| CN202966419U (en) | Electronic hydraulic power steering control system of road roller | |
| CN109228885A (en) | A kind of electric car electronic differential calculation method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130327 Termination date: 20130619 |