CN205854263U - A kind of trolley body that verts based on parallel-crank mechanism - Google Patents
A kind of trolley body that verts based on parallel-crank mechanism Download PDFInfo
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- CN205854263U CN205854263U CN201620800575.6U CN201620800575U CN205854263U CN 205854263 U CN205854263 U CN 205854263U CN 201620800575 U CN201620800575 U CN 201620800575U CN 205854263 U CN205854263 U CN 205854263U
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Abstract
为了克服现有的车辆在转弯时倾斜车身的机构比较复杂、且体积庞大、不适合用于一些较小车辆、且转向机构与倾斜机构相互有影响等问题，本实用新型公开了一种基于平行四边形机构的倾转小车机构，其转向机构和倾斜机构都是由平行四边形机构组成，结构简单，体积小，传动平稳，无急回特性，耐磨损；同时，控制系统还可以控制小车的倒车与车速；小车转向机构与车身倾斜机构呈十字交叉结构连接在一起，两套机构各自工作，不会相互影响，且体积小。
In order to overcome the problems that the existing mechanism for tilting the body of the vehicle when turning is relatively complicated, bulky, not suitable for some smaller vehicles, and the steering mechanism and the tilting mechanism affect each other, the utility model discloses a The tilting car mechanism of the quadrilateral mechanism, the steering mechanism and the tilting mechanism are composed of a parallelogram mechanism, the structure is simple, the volume is small, the transmission is stable, there is no quick return characteristic, and it is wear-resistant; at the same time, the control system can also control the reversing of the car. and the speed of the vehicle; the trolley steering mechanism and the body tilting mechanism are connected together in a cross structure, and the two mechanisms work independently without mutual influence, and are small in size.
Description
技术领域technical field
本实用新型涉及一种倾转小车机构，具体涉及一种基于平行四边形机构的倾转小车机构。The utility model relates to a tilting trolley mechanism, in particular to a tilting trolley mechanism based on a parallelogram mechanism.
背景技术Background technique
通常车辆在以一定速度转弯时，需要有向心力的作用才能按照预定路线完成转弯动作。一般为车辆提供向心力的是车轮与地面的摩擦力，以及路面倾斜使车辆倾斜所产生的重力的一个分力，但这些力有时并不能完全满足转弯时所需的向心力，所以在转弯时车辆一般都要减速以保证有足够的向心力来完成转弯动作，否则车辆将不能完成转弯，甚至会有倾覆的危险。Usually, when a vehicle is turning at a certain speed, it needs the action of centripetal force to complete the turning action according to the predetermined route. Generally, what provides the centripetal force for the vehicle is the friction force between the wheel and the ground, and a component of the gravity produced by the vehicle tilted by the inclination of the road surface, but these forces sometimes cannot fully meet the centripetal force required when turning, so the vehicle generally All must slow down to ensure that there is enough centripetal force to complete the turning action, otherwise the vehicle will not be able to complete the turning, and there may even be a danger of overturning.
现有的一些可以在车辆转弯时倾斜车身的机构，结构大都比较复杂，且体积庞大，不适合用于一些较小的车辆；当小车向某方向转弯时，倾斜机构的工作原理限制其只能向相同方向倾斜，使转向机构与倾斜机构相互影响，易磨损各零部件。Some existing mechanisms that can tilt the vehicle body when the vehicle is turning are mostly complicated in structure and bulky, and are not suitable for some smaller vehicles; when the car turns in a certain direction, the working principle of the tilting mechanism limits it. Tilting in the same direction makes the steering mechanism and the tilting mechanism interact with each other, and the parts are easy to wear.
发明内容Contents of the invention
针对上述问题本实用新型提供了一种基于平行四边形机构的倾转小车机构。To solve the above problems, the utility model provides a tilting trolley mechanism based on a parallelogram mechanism.
本实用新型所采取的技术方案为：一种基于平行四边形机构的倾转小车机构，包括前悬架部分和后悬架部分，其中前悬架部分又分为倾斜机构、转向机构、左前轮和右前轮，后悬架部分又分为动力系统、刹车系统和后车轮；The technical solution adopted by the utility model is: a tilting trolley mechanism based on a parallelogram mechanism, including a front suspension part and a rear suspension part, wherein the front suspension part is further divided into a tilt mechanism, a steering mechanism, a left front wheel And the right front wheel, the rear suspension part is divided into power system, brake system and rear wheel;
所述的倾斜机构包括右侧倾斜轴、左侧倾斜轴、右侧倾斜舵机、左侧倾斜舵机、右侧倾斜舵机摇臂、左侧倾斜舵机摇臂、上车架、下车架、摆架、倾斜拉杆以及控制杆；上车架左右两端之间设有凹凸槽，上车架与下车架相对于地面平行设置，二者左后部和右后部分别垂直二者连接有左侧倾斜轴和右侧倾斜轴；摆架通过其底部和中部的前后突出轴分别与下车架和上车架相连接，置于上车架左右两端对称轴处；控制杆穿过倾斜拉杆中间的孔安装在摆架上方的两个孔处；倾斜拉杆两端分别通过左侧倾斜舵机摇臂和右侧倾斜舵机摇臂与左侧倾斜舵机和右侧倾斜舵机相接；The tilting mechanism includes a right tilting shaft, a left tilting shaft, a right tilting steering gear, a left tilting steering gear, a right tilting steering gear rocker, a left tilting steering gear rocker arm, an upper frame, a lowering Frame, pendulum frame, tilt rod and control rod; there is a concave-convex groove between the left and right ends of the upper frame, the upper frame and the lower frame are arranged parallel to the ground, and the left and right rear parts of the two are perpendicular to the two. It is connected with the left tilting shaft and the right tilting shaft; the swing frame is respectively connected with the lower frame and the upper frame through the front and rear protruding shafts at the bottom and the middle, and is placed at the symmetrical axis of the left and right ends of the upper frame; the control rod wears The hole in the middle of the tilt rod is installed at the two holes above the swing frame; the two ends of the tilt rod pass through the rocker arm of the left tilt servo and the rocker of the right tilt servo and the left tilt servo and the right tilt servo respectively. connected;
所述转向机构包括右侧转向轴、左侧转向轴、右侧转向拉杆、左侧转向拉杆、转向舵机、摆架平台、球铰副以及转向舵机摇臂；控制杆水平左右两端分别通过左侧转向拉杆和右侧转向拉杆连接至转向舵机摇臂，转向舵机摇臂与固定于摆架平台上的转向舵机相连；摆架平台固定在摆架上，转向杆平行于地面横穿过摆架的凹槽并向两侧延伸，两端通过两个球铰副分别铰接至左侧转向轴和右侧转向轴，中部支杆与控制杆相接；The steering mechanism includes a right steering shaft, a left steering shaft, a right steering tie rod, a left steering tie rod, a steering servo, a pendulum platform, a ball joint and a steering steering rocker; The left steering rod and the right steering rod are connected to the rocker arm of the steering servo, and the rocker arm of the steering servo is connected to the steering servo fixed on the swing platform; the swing platform is fixed on the swing frame, and the steering rod is parallel to the ground Crossing the groove of the pendulum and extending to both sides, the two ends are respectively hinged to the left steering shaft and the right steering shaft through two ball joints, and the middle support rod is connected to the control rod;
所述左前轮和右前轮分别安装于左侧转向轴和右侧转向轴；The left front wheel and the right front wheel are installed on the left steering shaft and the right steering shaft respectively;
所述动力系统包括后车架、控制板、控制板固定螺柱、锂电池、车架连接件、电机、传动带和减速齿轮；刹车系统包括刹车舵机、刹车舵机摇臂、刹车片、和刹车推杆；车架连接件前端连接摆架，后端连接后车架，中间设有锂电池；通过控制板固定螺柱将控制板固定在在锂电池上方；后车架两杆中部支出两带孔立柱设有减速齿轮，两杆后部连接于后车轮；传动带一端套于减速齿轮另一端套于后车轮轴；刹车舵机靠近后车架前端固定，电机与其相邻固定于后车架两平台上；刹车推杆一端通过刹车舵机摇臂连接至刹车舵机，另一端与刹车片相连安装于后车轮上方。The power system includes a rear frame, a control board, a control board fixing stud, a lithium battery, a frame connector, a motor, a transmission belt and a reduction gear; the braking system includes a brake steering gear, a brake steering gear rocker arm, a brake pad, and The brake push rod; the front end of the frame connector is connected to the pendulum frame, the rear end is connected to the rear frame, and a lithium battery is installed in the middle; the control board is fixed above the lithium battery through the control board fixing studs; The column with holes is equipped with a reduction gear, and the rear of the two rods is connected to the rear wheel; one end of the transmission belt is placed on the reduction gear and the other end is placed on the rear wheel shaft; the brake servo is fixed near the front end of the rear frame, and the motor is fixed adjacent to the rear frame On the two platforms; one end of the brake push rod is connected to the brake servo through the rocker arm of the brake servo, and the other end is connected with the brake pad and installed above the rear wheel.
作为一种优选的技术方案：倾斜机构可使车身倾斜的角度即摆架与水平面所成的角度可以为600-900。As a preferred technical solution: the tilting mechanism can tilt the vehicle body, that is, the angle formed by the pendulum frame and the horizontal plane can be 60 0 -90 0 .
作为一种优选的技术方案：上车架与下车架形状相同，左右两边横梁平行，二者前端分别接于同一横梁的两端，后端通过两个对称斜梁呈三角连接形成五边形；上车架设有凹凸槽，下车架未设有。As a preferred technical solution: the upper frame and the lower frame have the same shape, the left and right beams are parallel, the front ends of the two are respectively connected to the two ends of the same beam, and the rear ends are connected in a triangle by two symmetrical inclined beams to form a pentagon ; The upper frame is provided with concave-convex grooves, but the lower frame is not provided.
作为一种优选的技术方案：控制杆与转向杆接触位置为滑槽设置，且转向杆有限位。As a preferred technical solution: the contact position between the control rod and the steering rod is set as a chute, and the steering rod has a limit.
作为一种优选的技术方案：转向机构与倾斜机构都为平行四边形设置，且二者相对位置呈十字交叉结构。As a preferred technical solution: both the steering mechanism and the tilting mechanism are arranged in a parallelogram, and the relative positions of the two are in a cross structure.
作为一种优选的技术方案：刹车片可以绕其安装轴转动。As a preferred technical solution: the brake pad can rotate around its installation shaft.
作为一种优选的技术方案：摆架可绕其与上车架的连接轴线转动。As a preferred technical solution: the pendulum frame can rotate around its connection axis with the upper frame.
作为一种优选的技术方案：倾斜拉杆和控制杆上均设有若干通孔。As a preferred technical solution: both the inclined pull rod and the control rod are provided with several through holes.
本实用新型的有益效果是：其转向机构和倾斜机构都是由平行四边形机构组成，结构简单，传动平稳，无急回特性，耐磨损；本实用新型在小车运动时由控制系统控制，在转弯过程中控制系统自动控制车身在一定范围内倾斜，避免了人为控制时产生的差错，同时，控制系统还可以控制小车的倒车与车速；本实用新型的转向机构与车身倾斜机构呈十字交叉结构连接在一起，两套机构各自独立工作，不会相互影响，且体积小。The beneficial effects of the utility model are: the steering mechanism and the tilting mechanism are composed of a parallelogram mechanism, the structure is simple, the transmission is stable, there is no quick return characteristic, and it is wear-resistant; the utility model is controlled by the control system when the trolley moves. During the turning process, the control system automatically controls the vehicle body to tilt within a certain range, avoiding the errors caused by human control. At the same time, the control system can also control the reversing and vehicle speed of the trolley; the steering mechanism and the vehicle body tilting mechanism of the utility model have a cross structure Connected together, the two sets of mechanisms work independently without mutual influence and are small in size.
附图说明Description of drawings
图1是本实用新型的整体结构示意图；Fig. 1 is the overall structural representation of the utility model;
图2是本实用新型倾斜机构示意图；Fig. 2 is a schematic diagram of the tilting mechanism of the utility model;
图3是本实用新型转向机构示意图；Fig. 3 is a schematic diagram of the utility model steering mechanism;
图4是本实用新型倾斜机构与转向机构上的两个平行四边形机构十字交叉配合示意图；Fig. 4 is a cross-coordination diagram of two parallelogram mechanisms on the tilting mechanism and the steering mechanism of the utility model;
图5是本实用新型控制杆与转向杆滑槽拨杆连接示意图；Fig. 5 is a schematic diagram of the connection between the control rod and the steering rod chute lever of the utility model;
图6是本实用新型控制杆示意图；Fig. 6 is a schematic diagram of the utility model control rod;
图7是本实用新型转向杆示意图；Fig. 7 is a schematic diagram of the steering rod of the utility model;
图8是本实用新型摆架结构示意图；Fig. 8 is a schematic diagram of the structure of the swing frame of the present invention;
图9是本实用新型上车架结构示意图；Fig. 9 is a structural schematic diagram of the upper frame of the utility model;
图10是本实用新型左侧转向轴示意图；Fig. 10 is a schematic diagram of the left steering shaft of the utility model;
图11是本实用新型左侧倾斜轴示意图；Fig. 11 is a schematic diagram of the left tilt axis of the utility model;
图12是本实用新型后车架示意图；Fig. 12 is a schematic diagram of the rear frame of the utility model;
图13是本实用新型车架连接件示意图；Fig. 13 is a schematic diagram of the frame connector of the present invention;
图14是本实用新型倾斜拉杆示意图；Figure 14 is a schematic diagram of the utility model inclined pull rod;
图15是本实用新型前悬架装配示意图；Figure 15 is a schematic diagram of the assembly of the front suspension of the utility model;
图16是本实用新型后悬架装配示意图；Figure 16 is a schematic diagram of the assembly of the rear suspension of the utility model;
图中：1右前轮、2右侧转向轴、3右侧倾斜轴、4上车架、5右侧倾斜舵机摇臂、6倾斜拉杆、7摆架、8左侧倾斜舵机摇臂、9左侧倾斜舵机、10左侧倾斜轴、11左侧转向轴、12左前轮、13转向杆、14下车架、15左侧转向拉杆、16转向舵机、17转向舵机摇臂、18车架连接件、19刹车舵机、20后车架、21减速齿轮、22后车轮、23刹车片、24传动带、25刹车推杆、26电机、27刹车舵机摇臂、28锂电池、29控制板固定螺柱、30控制板、31控制杆、32右侧转向拉杆、33右侧倾斜舵机、34凹凸槽、35摆架平台、36球铰副 。In the figure: 1. Right front wheel, 2. Right steering shaft, 3. Right tilting shaft, 4. Upper frame, 5. Right tilting servo rocker arm, 6. Tilting tie rod, 7. Pendulum frame, 8. Left tilting steering gear rocker arm , 9 Left tilting steering gear, 10 Left tilting shaft, 11 Left steering shaft, 12 Left front wheel, 13 Steering rod, 14 Lower frame, 15 Left steering rod, 16 Steering steering gear, 17 Steering steering gear Arm, 18 frame connector, 19 brake servo, 20 rear frame, 21 reduction gear, 22 rear wheel, 23 brake pad, 24 transmission belt, 25 brake push rod, 26 motor, 27 brake servo rocker arm, 28 lithium Battery, 29 control panel fixing studs, 30 control panel, 31 control lever, 32 right steering rod, 33 right tilt steering gear, 34 concave-convex groove, 35 pendulum platform, 36 ball joint pair.
具体实施方式detailed description
为了更清楚地说明本实用新型实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本实用新型的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description These are only some embodiments of the utility model, and those skilled in the art can also obtain other drawings according to these drawings without any creative effort.
一种基于平行四边形机构的倾转小车机构，包括前悬架部分和后悬架部分，其中前悬架部分又分为倾斜机构、转向机构、左前轮12和右前轮1，后悬架部分又分为动力系统、刹车系统和后车轮22；A tilting trolley mechanism based on a parallelogram mechanism, including a front suspension part and a rear suspension part, wherein the front suspension part is further divided into a tilting mechanism, a steering mechanism, a left front wheel 12 and a right front wheel 1, and the rear suspension The part is further divided into power system, brake system and rear wheel 22;
所述的倾斜机构包括右侧倾斜轴3、左侧倾斜轴10、右侧倾斜舵机33、左侧倾斜舵机9、右侧倾斜舵机摇臂5、左侧倾斜舵机摇臂8、上车架4、下车架14、摆架7、倾斜拉杆6以及控制杆31；上车架4左右两端之间设有凹凸槽34，上车架4与下车架14相对于地面平行设置，二者左后部和右后部分别垂直二者连接有左侧倾斜轴10和右侧倾斜轴3；摆架7通过其底部和中部的前后突出轴分别与下车架14和上车架4相连接，置于上车架4左右两端对称轴处；控制杆31穿过倾斜拉杆6中间的孔安装在摆架7上方的两个孔处；倾斜拉杆6两端分别通过左侧倾斜舵机摇臂8和右侧倾斜舵机摇臂5与左侧倾斜舵机9和右侧倾斜舵机33相接；The tilting mechanism includes a right tilting shaft 3, a left tilting shaft 10, a right tilting steering gear 33, a left tilting steering gear 9, a right tilting steering gear rocker arm 5, a left tilting steering gear rocking arm 8, The upper frame 4, the lower frame 14, the swing frame 7, the tilt rod 6 and the control rod 31; the upper frame 4 is provided with concave and convex grooves 34 between the left and right ends, and the upper frame 4 and the lower frame 14 are parallel to the ground Arrangement, both left rear part and right rear part are respectively vertically connected with left side inclined shaft 10 and right side inclined shaft 3; Rocker 7 is respectively connected with lower vehicle frame 14 and upper car by the front and rear protruding shafts of its bottom and middle part. Frames 4 are connected and placed at the symmetrical axis of the left and right ends of the upper frame 4; the control rod 31 passes through the hole in the middle of the tilt rod 6 and is installed at the two holes above the swing frame 7; the two ends of the tilt rod 6 pass through the left side respectively. The tilting steering gear rocker 8 and the right tilting steering gear rocking arm 5 are connected with the left tilting steering gear 9 and the right tilting steering gear 33;
所述转向机构包括右侧转向轴2、左侧转向轴11、右侧转向拉杆32、左侧转向拉杆15、转向舵机16、摆架平台35、球铰副36以及转向舵机摇臂17；控制杆31水平左右两端分别通过左侧转向拉杆15和右侧转向拉杆32连接至转向舵机摇臂17，转向舵机摇臂17与固定于摆架平台35上的转向舵机16相连；摆架平台35固定在摆架7上，转向杆13平行于地面横穿过摆架7的凹槽并向两侧延伸，两端通过两个球铰副36分别铰接至左侧转向轴11和右侧转向轴2，中部支杆与控制杆31相接；Described steering mechanism comprises right side steering shaft 2, left side steering shaft 11, right side steering tie rod 32, left side steering tie rod 15, steering steering gear 16, pendulum platform 35, ball joint pair 36 and steering steering gear rocking arm 17 The horizontal left and right ends of the control rod 31 are respectively connected to the steering servo rocker 17 through the left steering rod 15 and the right steering rod 32, and the steering steering rocker 17 is connected to the steering steering gear 16 fixed on the swing platform 35 The swing frame platform 35 is fixed on the swing frame 7, the steering rod 13 crosses the groove of the swing frame 7 parallel to the ground and extends to both sides, and the two ends are respectively hinged to the left steering shaft 11 through two ball joint pairs 36 With the right steering shaft 2, the middle strut is connected with the control rod 31;
所述左前轮12和右前轮1分别安装于左侧转向轴11和右侧转向轴2；The left front wheel 12 and the right front wheel 1 are installed on the left steering shaft 11 and the right steering shaft 2 respectively;
所述动力系统包括后车架20、控制板30、控制板固定螺柱29、锂电池28、车架连接件18、电机26、传动带24和减速齿轮21；刹车系统包括刹车舵机19、刹车舵机摇臂27、刹车片23、和刹车推杆25；车架连接件18前端连接摆架7，后端连接后车架20，中间设有锂电池28；通过控制板固定螺柱29将控制板30固定在锂电池上方；后车架20两杆中部支出两带孔立柱设有减速齿轮21，两杆后部连接于后车轮22；传动带24一端套于减速齿轮21另一端套于后车轮轴；刹车舵机19靠近后车架20前端固定，电机26与其相邻固定于后车架20两平台上；刹车推杆25一端通过刹车舵机摇臂27连接至刹车舵机19，另一端与刹车片23相连安装于后车轮22上方。Described power system comprises rear vehicle frame 20, control panel 30, control panel fixing stud 29, lithium battery 28, vehicle frame connector 18, motor 26, driving belt 24 and reduction gear 21; Brake system comprises brake servo 19, brake Steering gear rocking arm 27, brake pad 23, and brake push rod 25; The front end of vehicle frame connector 18 is connected with swing frame 7, and the rear end is connected with rear vehicle frame 20, and lithium battery 28 is arranged in the middle; The control board 30 is fixed above the lithium battery; the rear frame 20 is provided with a reduction gear 21 in the middle part of the two poles with holes, and the rear part of the two poles is connected to the rear wheel 22; Wheel shaft; brake steering gear 19 is fixed near the front end of rear vehicle frame 20, and motor 26 is fixed on the two platforms of rear vehicle frame 20 adjacent to it; brake push rod 25 one end is connected to brake steering gear 19 by brake steering gear rocking arm 27, and the other One end is connected with the brake pad 23 and installed above the rear wheel 22 .
所述的倾斜机构可使车身倾斜的角度即摆架7与水平面所成的角度可以为600-900。The angle at which the vehicle body can be tilted by the tilting mechanism, that is, the angle formed by the pendulum frame 7 and the horizontal plane, can be 60 0 -90 0 .
所述的上车架4与下车架14形状相同，左右两边横梁平行，二者前端分别接于同一横梁的两端，后端通过两个对称斜梁呈三角连接形成五边形；上车架4设有凹凸槽34，下车架14未设有。The upper frame 4 and the lower frame 14 have the same shape, the left and right beams are parallel, the front ends of the two are respectively connected to the two ends of the same beam, and the rear ends are triangularly connected by two symmetrical inclined beams to form a pentagon; Frame 4 is provided with concavo-convex groove 34, and lower frame 14 is not provided with.
所述的控制杆31与转向杆13接触位置为滑槽设置，且转向杆13有限位。The contact position between the control rod 31 and the steering rod 13 is set as a slide groove, and the steering rod 13 has a limit.
所述的转向机构与倾斜机构都为平行四边形设置，且二者相对位置呈十字交叉结构。Both the steering mechanism and the tilting mechanism are arranged in a parallelogram, and the relative positions of the two are in a cross structure.
所述的刹车片23可以绕其安装轴转动。The brake pad 23 can rotate around its installation axis.
所述的摆架7可绕其与上车架4的连接轴线转动。The swing frame 7 can rotate around its connection axis with the upper frame 4 .
所述的倾斜拉杆6和控制杆31上均设有若干通孔。Several through holes are provided on the inclined pull rod 6 and the control rod 31 .
本实用新型的工作过程为：The working process of the present utility model is:
小车在运动中，控制板30控制电机26的转速和转向，通过减速齿轮21及传动带24驱动后车轮22，控制小车的前进、后退。控制板30通过控制转向舵机16驱动转向舵机摇臂17带动左侧转向拉杆15及右侧转向拉杆32，使控制杆31绕着摆架7上面的两个孔转动，控制杆31转动会拨动转向杆13，使左侧转向轴11绕左侧倾斜轴10转动、右侧转向轴2绕右侧倾斜轴3转动，带动左前轮12及右前轮1转动，起控制小车转弯的作用。在转弯的同时，控制板30会根据当前的转弯角度及小车运动速度，在一定范围内控制左侧倾斜舵机9、右侧倾斜舵机33驱动左侧倾斜舵机摇臂8及右侧倾斜舵机摇臂5，带动倾斜拉杆6及控制杆31，使摆架7绕上车架4的中间两个孔转动，使小车车身倾斜一定的角度来提供小车转弯的向心力。这样可以避免车辆在转弯时的减速操作，又可以省略骑摩托车转弯时人为的使车身倾斜一定角度的过程，进而使小车转弯更安全。When the dolly is in motion, the control panel 30 controls the rotating speed and steering of the motor 26, drives the rear wheels 22 through the reduction gear 21 and the transmission belt 24, and controls the forward and backward movement of the dolly. The control board 30 drives the steering gear rocker 17 by controlling the steering gear 16 to drive the left side steering rod 15 and the right side steering rod 32, so that the control rod 31 rotates around the two holes on the swing frame 7, and the rotation of the control rod 31 will be Turn the steering rod 13 to make the left steering shaft 11 rotate around the left tilting shaft 10, and the right steering shaft 2 rotate around the right tilting shaft 3, and drive the left front wheel 12 and the right front wheel 1 to rotate, thereby controlling the turning of the trolley. effect. While turning, the control board 30 will control the left tilt steering gear 9 and the right tilt steering gear 33 to drive the left tilt steering gear rocker arm 8 and the right tilt steering gear within a certain range according to the current turning angle and the speed of the car. The rocker arm 5 of the steering gear drives the tilt rod 6 and the control rod 31 to make the pendulum 7 rotate around the middle two holes of the upper frame 4, so that the car body can be tilted at a certain angle to provide the centripetal force for the car to turn. In this way, the deceleration operation of the vehicle when turning can be avoided, and the process of artificially tilting the vehicle body at a certain angle when turning by motorcycle can be omitted, thereby making the turning of the car safer.
最后所应说明的是，以上实施例仅用以补充阐释本实用新型的技术方案而非限制。尽管参照实施例对本实用新型进行了详细说明，本领域的广大技术人员应当理解，对本实用新型的技术方案进行修改或者同等替换，都不脱离本实用新型技术方案的精神和范围，其均应涵盖在本实用新型的权利要求范围当中。Finally, it should be noted that the above embodiments are only used for supplementary illustration of the technical solutions of the present utility model rather than limitation. Although the utility model has been described in detail with reference to the embodiments, those skilled in the art should understand that any modification or equivalent replacement of the technical solution of the utility model does not depart from the spirit and scope of the technical solution of the utility model, and all should cover In the scope of the claims of the present utility model.
Claims (8)
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| CN201620800575.6U CN205854263U (en) | 2016-07-28 | 2016-07-28 | A kind of trolley body that verts based on parallel-crank mechanism |
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| CN201620800575.6U CN205854263U (en) | 2016-07-28 | 2016-07-28 | A kind of trolley body that verts based on parallel-crank mechanism |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109625089A (en) * | 2018-12-25 | 2019-04-16 | 王亚 | Vehicular turn rolls the vehicle of linkage and the application device |
| CN110588858A (en) * | 2019-09-18 | 2019-12-20 | 东莞灏智动能科技有限公司 | Scooter for old people |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109625089A (en) * | 2018-12-25 | 2019-04-16 | 王亚 | Vehicular turn rolls the vehicle of linkage and the application device |
| CN109625089B (en) * | 2018-12-25 | 2021-07-02 | 王亚 | Vehicle steering and side-tipping linkage device and vehicle applying same |
| CN110588858A (en) * | 2019-09-18 | 2019-12-20 | 东莞灏智动能科技有限公司 | Scooter for old people |
| CN110588858B (en) * | 2019-09-18 | 2024-04-23 | 东莞灏智动能科技有限公司 | Walking aid for old people |
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