Hub-motor-based all-directional steering system for pipe gallery inspection trolley

A technology of in-wheel motor and steering system, which is applied in the direction of steering mechanism, steering rod, circuit or fluid pipeline, etc., can solve the problem of difficult steering of inspection trolleys, and achieve the effect of reducing the number, improving safety and improving reliability.

Pending Publication Date: 2018-04-20
SOUTHWEST JIAOTONG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] The invention provides an all-round steering system for the inspection trolley in the pipe gallery based on the hub motor, which is used to solve the p

Method used

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  • Hub-motor-based all-directional steering system for pipe gallery inspection trolley
  • Hub-motor-based all-directional steering system for pipe gallery inspection trolley
  • Hub-motor-based all-directional steering system for pipe gallery inspection trolley

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Example Embodiment

[0024] The specific embodiments of the present invention will be further described below with reference to the accompanying drawings. The interpretation of each label in the figure is as follows: 1-wedge guide key, 2-frame, 3-wheel, 4-wheel hub motor, 5-U knuckle, 6 -Steering knuckle arm, 7-first link, 8-rocker, 9-four-wheel steering servo, 10-first steering rod, 11-second steering rod, 12-steering lock, 121-lock cover, 122 -Spring, 123- silicon steel sheet, 124- steering shaft, 13- vertical rod, 14- electric lock slider, 15- electric control seat, 16- electric control lock, 17- linear slider, 18- linear slider seat, 19-second connecting rod, 20-full steering steering gear, 21-crank, 22-angle sensor, 23-linear guide.

[0025] The present invention includes a frame 2 and four wheels 3 matched with it. Each wheel 3 is provided with a hub motor 4. A U-shaped knuckle 5 is fixedly connected to each wheel 3, an angle sensor 22 is installed on the U-shaped knuckle 5, and one end of the...

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Abstract

The invention discloses a hub-motor-based all-directional steering system for a pipe gallery inspection trolley, comprising a frame, wheels, a hub motor, a central control system, a linear guide, an all-directional steering engine, a four-wheel steering engine, an electrical lock and a steering lock. The system uses three steering modes, namely a four-wheel steering mode, a zero-radius steering mode and a traversing mode; the corresponding steering mode may be selected according to actual driving conditions in a pipe gallery. The hub-motor-based multi-mode steering overcomes the defects that,for instance, an existing inspection trolley has difficulty in steering at a right-angle corner and stability during differential steering is poor; flexible steering of the inspection trolley in a narrow pipe gallery and no-blind-zone detection are achieved; the combination of a dual-crank slider mechanism and a rocker-slider mechanism allows four-wheel linked steering, so that fewer steering motors are required; by using the mechanical structure in the system, a control algorithm is simplified, steering reliability is improved, and pipe gallery detection safety is improved accordingly.

Description

technical field [0001] The invention relates to a vehicle steering system, in particular to an omnidirectional steering system for a pipe gallery inspection trolley based on a hub motor. Background technique [0002] Urban underground utility corridor is an important part of urban infrastructure. Compared with dedicated power tunnels, the operation and maintenance of underground utility tunnels is more complicated. The urban underground comprehensive pipe gallery integrates various pipelines such as municipal, electric power, communication, gas, water supply, and drainage, and builds an intensive tunnel in the underground space of urban roads. The underground pipe gallery can be as short as several kilometers or as long as tens of kilometers. It is impossible for inspection personnel to fully grasp the operating conditions of the underground pipe gallery in real time. Therefore, designing a set of omni-directional steering system for inspection trolleys has positive effect...

Claims

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Application Information

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IPC IPC(8): B62D7/14B62D7/18B62D7/20B62D15/02B60R16/023
CPCB62D7/142B62D7/18B62D7/20B62D15/02B60R16/023
Inventor 罗大兵晏海静朱国龙王亚磊吕常伟
Owner SOUTHWEST JIAOTONG UNIV
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