Stable wheel steering structure for unmanned vehicle

Abstract

This utility model discloses a stable wheel steering structure for an unmanned vehicle, including a frame body and a supporting base plate disposed above the top surface of the frame body; it also includes: a running mechanism disposed on both the front and rear sides of the bottom of the frame body, the running mechanism including a front running wheel and a rear running wheel, and the front and rear running wheels being distributed symmetrically from left to right; a steering mechanism disposed on both the front and rear sides of the bottom of the frame body, the steering mechanism including a steering sleeve, and a steering tie rod slidably disposed inside the steering sleeve. This stable wheel steering structure for an unmanned vehicle, through the movement of the front and auxiliary running wheels on the front and rear sides of the frame body, drives the steering tie rod inside the steering sleeve to move in the opposite direction during steering, thereby causing the front and rear running wheels to rotate, in order to reduce the turning radius and improve steering efficiency.

Description

Technical Field

[0001] This utility model relates to the field of vehicle steering structure technology, specifically a stable wheel steering structure for an unmanned vehicle. Background Technology

[0002] The vehicle steering system refers to the entire set of mechanical devices on a car used to control the direction of travel. It translates the driver's control of the steering wheel into wheel deflection, thus achieving the vehicle's steering function. A conventional steering system includes the steering wheel, steering shaft, and steering column, serving as the direct interface between the driver and the steering system. In autonomous vehicles, however, a motor controller is typically used to replace the driver, allowing these vehicles to be used in specific scenarios and reducing errors caused by human judgment.

[0003] The utility model with announcement number CN205131346U discloses a steering structure for the frame wheels of a grain cleaning machine. It uses a steering seat, a rocker arm seat, and a connecting rod to form a steering mechanism. When the traction rod is turned to rotate the rocker arm seat, the connecting rod drives the steering seat to rotate. It is flexible in movement, convenient and quick in steering, reduces labor intensity, and greatly improves the utilization rate of the equipment.

[0004] However, the above-disclosed wheel steering structure still has the following problems in actual use: the steering wheel is rotated by the disclosed linkage to achieve the effect of steering, but such vehicles still need to be manually controlled when steering, and the linkage used for control is located in front of the vehicle. When manually pulling the vehicle, it is not possible to intuitively observe the degree of steering of the vehicle, which can easily lead to collisions due to incomplete steering.

[0005] Therefore, we propose a stable wheel steering structure for autonomous vehicles to address the problems mentioned above. Utility Model Content

[0006] The purpose of this invention is to provide a stable wheel steering structure for unmanned vehicles. This addresses the problem that existing methods use a linkage to rotate the steering wheel to achieve steering, but these vehicles still require manual control during steering. Furthermore, the linkage used for control is located at the front of the vehicle, making it impossible to visually observe the degree of steering when manually pulling the vehicle, which can easily lead to collisions due to incomplete steering.

[0007] To achieve the above objectives, this utility model provides the following technical solution: a stable wheel steering structure for an unmanned vehicle, comprising a frame body and a load-bearing base plate disposed above the top surface of the frame body; further comprising:

[0008] The chassis body has a driving mechanism on both the front and rear sides of the bottom, and the driving mechanism includes a front driving wheel and a rear driving wheel, and the front driving wheel and the rear driving wheel are distributed in a left-right symmetrical manner.

[0009] Steering mechanisms are provided on both the front and rear sides of the bottom of the vehicle frame body, and the steering mechanisms include steering sleeves, with steering tie rods slidably disposed inside the steering sleeves.

[0010] Preferably, the driving mechanism includes a transverse base plate, which is fixedly installed on the front and rear sides of the bottom of the frame body. The symmetrically arranged transverse base plates and the outer ends of the frame body are rotatably connected to the inner ends of the steering column through bearings. The inner ends of the steering column are inserted into and rotate within the frame body and the transverse base plate.

[0011] Preferably, the driving mechanism includes a driving shaft, which is rotatably mounted on the outer end of a symmetrically arranged steering column via bearings, and the outer end of the driving shaft is bolted to the interior of the front driving wheel and the rear driving wheel so that the front driving wheel and the rear driving wheel drive the frame body to move by rotation.

[0012] Preferably, the steering mechanism includes a steering sleeve that is fixedly installed on the front and rear sides between the vehicle frame body and the transverse bottom plate, and dustproof rubber plugs are fixedly provided at both the left and right ends inside the steering sleeve, and the outer end of the steering tie rod inside the steering sleeve is slidably provided outside the dustproof rubber plug.

[0013] Preferably, the steering mechanism includes a steering tie rod whose outer end is rotatably connected to the inner end of the steering column via a bearing. The steering tie rod slides inside the steering sleeve, causing the steering column connected to the outer end to change the angle with the driving shaft, so that the front driving wheel and the rear driving wheel reduce the turning radius and improve stability.

[0014] Preferably, the steering mechanism includes transmission gear blocks, which are fixedly installed at equal intervals on the inner middle of the steering tie rod. The transmission gear blocks are meshed with the transmission gear, and the transmission gear is rotatably mounted inside the steering sleeve via a bearing. A transmission shaft is fixedly mounted on the top of the transmission gear.

[0015] Preferably, the steering mechanism includes a drive shaft, which is rotatably mounted on the top center of the frame body via bearings. The front and rear ends of the drive shaft are connected to the top of the transmission shaft via bevel gears. The rotation of the drive shaft drives the transmission shafts on the front and rear sides to rotate in opposite directions.

[0016] Compared with the prior art, the beneficial effects of this utility model are: the stable wheel steering structure of this unmanned vehicle moves the front and auxiliary driving wheels on both sides of the frame body. During the steering process, it drives the steering tie rod inside the steering sleeve to move in the opposite direction, thereby driving the front and rear driving wheels to rotate, so as to reduce the turning radius and improve steering efficiency. The specific details are as follows:

[0017] 1. The chassis body is positioned for the steering column via the lower transverse base plate, so that the steering column can install the front and rear driving wheels via the outer driving shaft. The front and rear driving wheels rotate to move the chassis body, and the load-bearing base plate carries and transports the goods.

[0018] 2. The drive shaft on the top of the frame rotates, and the bevel gears at the front and rear ends drive the meshing transmission shaft to rotate in the opposite direction. This drives the transmission gear to mesh with the transmission gear block, causing the steering tie rods on the front and rear sides to move in the opposite direction, thereby controlling the steering of all wheel sets.

[0019] Furthermore, the steering sleeve limits the movement of the steering tie rod through the dustproof rubber plugs at both ends, improving stability during steering. At the same time, when the moving steering tie rod drives the steering column connected to the outer end bearing to rotate, it drives the outer end driving shaft and the front and rear driving wheels to rotate, so as to reduce the turning radius and improve steering efficiency. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall three-dimensional structure of the present invention;

[0021] Figure 2 This is a schematic diagram of the structure for mounting the drive shaft of this utility model;

[0022] Figure 3 This is a schematic diagram of the structure for installing the steering sleeve of this utility model;

[0023] Figure 4 This is a structural schematic diagram of the horizontal base plate of this utility model viewed from below;

[0024] Figure 5 This is a schematic diagram of the cross-sectional structure of the steering sleeve of this utility model;

[0025] Figure 6 This utility model Figure 5 Enlarged structural diagram at point A in the middle.

[0026] In the diagram: 1. Chassis body; 2. Load-bearing base plate; 3. Front running wheel; 4. Rear running wheel; 5. Steering sleeve; 6. Steering tie rod; 7. Transverse base plate; 8. Steering column; 9. Running shaft; 10. Transmission gear block; 11. Transmission gear; 12. Transmission shaft; 13. Drive shaft; 14. Bevel gear set; 15. Dustproof rubber plug. Detailed Implementation

[0027] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0028] Please see Figures 1-6 The present invention provides the following technical solution:

[0029] Example 1: To address the problems existing in the steering structure of current vehicles during use, this example discloses the following technical solution: a stable wheel steering structure for an unmanned vehicle, comprising a frame body 1 and a load-bearing base plate 2 disposed above the top surface of the frame body 1; a driving mechanism is provided on both the front and rear sides of the bottom of the frame body 1, and the driving mechanism includes a front driving wheel 3 and a rear driving wheel 4, which are symmetrically distributed from left to right; the driving mechanism includes a transverse base plate 7, which is fixedly installed on both the front and rear sides of the bottom of the frame body 1, and the symmetrically arranged transverse base plates 7 and the outer ends of the frame body 1 are rotatably connected to the inner ends of a steering column 8 via bearings, and the inner ends of the steering column 8 are inserted into and rotatably connected to the frame body 1 and the transverse base plate 7.

[0030] The driving mechanism includes a driving shaft 9, which is rotatably mounted on the outer end of the symmetrically arranged steering column 8 via bearings. The outer end of the driving shaft 9 is bolted to the interior of the front driving wheel 3 and the rear driving wheel 4 so that the front driving wheel 3 and the rear driving wheel 4 drive the frame body 1 to move by rotating.

[0031] like Figures 1-2 , Figure 4 As shown, the frame body 1 contacts the ground through the front driving wheels 3 and the rear driving wheels 4 distributed on the front and rear sides. During movement, the driving shaft 9 connected to the inner ends of the front driving wheels 3 and the rear driving wheels 4 by bearings rotates. The driving shaft 9 is installed between the frame body 1 and the transverse base plate 7 through the steering column 8, so as to drive the frame body 1 and the load-bearing base plate 2 to move while ensuring stability, and transport the goods to be transferred through the load-bearing base plate 2.

[0032] Example 2: To address the problems existing in the steering structure of existing vehicles during use, this example discloses the following technical solution: Steering mechanisms are provided on both the front and rear sides of the bottom of the chassis body 1, and each steering mechanism includes a steering sleeve 5. A steering tie rod 6 is slidably disposed inside the steering sleeve 5. The steering sleeve 5 is fixedly installed on both the front and rear sides between the chassis body 1 and the transverse base plate 7. Dustproof rubber plugs 15 are fixedly disposed at both the left and right ends inside the steering sleeve 5. The outer end of the steering tie rod 6 inside the steering sleeve 5 slidably passes through the outside of the dustproof rubber plugs 15. The outer end of the steering tie rod 6 is rotatably connected to the inner end of the steering column 8 via a bearing. By sliding the steering tie rod 6 inside the steering sleeve 5, the steering column 8 connected to the outer end changes its angle with the driving shaft 9, thereby reducing the turning radius of the front driving wheel 3 and the rear driving wheel 4 and improving stability.

[0033] The steering mechanism includes a transmission gear block 10, which is fixedly installed at equal intervals on the inner middle of the steering tie rod 6. The transmission gear block 10 is meshed with the transmission gear 11, and the transmission gear 11 is rotatably mounted inside the steering sleeve 5 via a bearing. A transmission shaft 12 is fixedly mounted on the top of the transmission gear 11. The steering mechanism also includes a drive shaft 13, which is rotatably mounted on the center of the top surface of the frame body 1 via a bearing. The front and rear ends of the drive shaft 13 are meshed with the top of the transmission shaft 12 via a bevel gear set 14. The rotation of the drive shaft 13 causes the transmission shafts 12 on the front and rear sides to rotate in opposite directions.

[0034] like Figure 3 , Figures 5-6 As shown, during the steering process, the drive shaft 13 mounted on the upper part of the frame body 1 rotates under the control of a motor. The two ends of the front end of the drive shaft 13 drive the transmission shaft 12, which is meshed with it, to rotate through the bevel gear set 14. When the transmission shaft 12 drives the transmission gear 11 inside the steering sleeve 5 to rotate, the transmission gear 11 meshes with the transmission gear block 10 on the inner side of the steering tie rod 6 so that the transmission gear block 10 drives the steering tie rod 6 to move. The steering tie rods 6 on the front and rear sides are controlled by the bevel gear set 14 above to move in the opposite direction, thereby achieving steering control.

[0035] Furthermore, the steering tie rod 6 inside the steering sleeve 5 is positioned and protected from dust by a dustproof rubber plug 15. When the steering tie rod 6 moves, it drives the steering column 8 connected to the outer end bearing to rotate. At the same time, the steering column 8 drives the outer end driving shaft 9, the front driving wheel 3, and the rear driving wheel 4 to rotate, so as to reduce the turning radius and improve driving stability.

[0036] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A stable wheel steering structure for an unmanned vehicle, comprising a frame body (1) and a load-bearing base plate (2) disposed above the top surface of the frame body (1). Its features are, Also includes: The chassis body (1) has a driving mechanism on both the front and rear sides of the bottom, and the driving mechanism includes a front driving wheel (3) and a rear driving wheel (4), and the front driving wheel (3) and the rear driving wheel (4) are distributed in a left-right symmetrical manner. Steering mechanisms are provided on both the front and rear sides of the bottom of the frame body (1), and the steering mechanism includes a steering sleeve (5), and a steering tie rod (6) is slidably provided inside the steering sleeve (5).

2. The stable wheel steering structure for an unmanned vehicle according to claim 1, characterized in that: The driving mechanism includes a transverse base plate (7), which is fixedly installed on the front and rear sides of the bottom of the frame body (1). The transverse base plate (7) and the outer ends of the frame body (1) are rotatably connected to the inner end of the steering column (8) through bearings. The inner end of the steering column (8) is inserted and rotated inside the frame body (1) and the transverse base plate (7).

3. The stable wheel steering structure for an unmanned vehicle according to claim 2, characterized in that: The driving mechanism includes a driving shaft (9), which is rotatably mounted on the outer end of a symmetrically arranged steering column (8) via a bearing. The outer end of the driving shaft (9) is bolted to the interior of the front driving wheel (3) and the rear driving wheel (4) so ​​that the front driving wheel (3) and the rear driving wheel (4) can drive the frame body (1) to move by rotation.

4. The stable wheel steering structure for an unmanned vehicle according to claim 1, characterized in that: The steering mechanism includes a steering sleeve (5) which is fixedly installed on the front and rear sides between the frame body (1) and the transverse base plate (7). Dustproof rubber plugs (15) are fixedly installed on both the left and right ends inside the steering sleeve (5). The outer end of the steering tie rod (6) inside the steering sleeve (5) is slidably installed outside the dustproof rubber plug (15).

5. The stable wheel steering structure for an unmanned vehicle according to claim 4, characterized in that: The steering mechanism includes a steering tie rod (6) whose outer end is rotatably connected to the inner end of the steering column (8) via a bearing. The steering tie rod (6) slides inside the steering sleeve (5), causing the steering column (8) connected to the outer end and the driving shaft (9) to change their angle, so that the front driving wheel (3) and the rear driving wheel (4) can reduce their turning radius and improve stability.

6. The stable wheel steering structure for an unmanned vehicle according to claim 1, characterized in that: The steering mechanism includes a transmission gear block (10), and the transmission gear block (10) is fixedly installed at equal intervals on the inner middle of the steering tie rod (6). The transmission gear block (10) is meshed with the transmission gear (11), and the transmission gear (11) is rotatably mounted inside the steering sleeve (5) through a bearing. At the same time, a transmission shaft (12) is fixedly mounted on the top of the transmission gear (11).

7. The stable wheel steering structure for an unmanned vehicle according to claim 6, characterized in that: The steering mechanism includes a drive shaft (13), which is rotatably mounted on the top center of the frame body (1) via a bearing. The front and rear ends of the drive shaft (13) are connected to the top of the transmission shaft (12) via a bevel gear set (14). The rotation of the drive shaft (13) drives the transmission shafts (12) on the front and rear sides to rotate in opposite directions.

Images