CN106004998A - Four-wheel in-situ steering mechanism and four-wheel in-situ steering trolley - Google Patents

Abstract

The invention relates to a four-wheel in-situ steering mechanism and a four-wheel in-situ steering trolley. The wheels (8) are rigidly connected to a vertical shaft (6) and are arranged on the lower surface of a track plate (1) through the vertical shaft (6); The linkage mechanism drives the vertical rotating shaft (6) to rotate 90 degrees so as to drive the wheels (8) to turn 90 degrees in situ. Steering link mechanism includes steering crank (2), connecting rod (3), intermediate crank (4), drive shaft (5) and steering rod (7); the lower end of drive shaft (5) passes through the center of track plate (1) and The motor is connected, the upper end of the drive shaft (5) is rigidly connected to the middle part of the intermediate crank (4), and the two ends of the intermediate crank (4) are respectively hinged to a connecting rod (3); the other end of the connecting rod (3) is connected to two symmetrically arranged The steering crank (2) is hinged, the other end of the steering crank (2) is hinged to the free end of the corresponding steering rod (7), and the other end of the steering rod (7) is rigidly connected to the upper end of the corresponding vertical shaft (6).

Description

A four-wheel in-situ steering mechanism and a four-wheel in-situ steering trolley

technical field

The invention belongs to the technical field of transport trolleys, and in particular relates to a four-wheel in-situ steering mechanism and a four-wheel in-situ steering trolley.

Background technique

The transportation of goods in the factory warehouse is an important part of the product processing and sales process. Its efficiency directly affects the production cost and production efficiency of the product. At present, the pick-up and delivery efficiency of goods in warehouses is low, and the road space of most warehouses is very narrow. Therefore, according to the environment and requirements of the factory warehouse, it is necessary to design an in-situ steering vehicle suitable for the narrow working environment of the factory warehouse.

Contents of the invention

The invention designs a four-wheel in-situ steering mechanism and a four-wheel in-situ steering trolley, which solves the problem of how to turn in-situ for a trolley in a narrow workshop. This mechanism can realize four-wheel steering in situ, and requires less space.

In order to solve the above-mentioned technical problems, the present invention adopts the following scheme:

A four-wheel in-situ steering mechanism, including four wheels (8), is characterized in that it also includes a track plate (1) and a steering linkage mechanism, the wheels (8) are rigidly connected to the corresponding vertical shafts (6) and The vertical rotating shaft (6) is set on the lower surface of the track plate (1), and the steering link mechanism is set on the upper surface of the track plate (1); the steering link mechanism drives the vertical rotating shaft (6) to rotate 90 degrees to drive the wheels (8 ) turned 90 degrees in situ.

Further, the steering linkage mechanism includes a steering crank (2), a connecting rod (3), an intermediate crank (4), a drive shaft (5) and a steering rod (7); the lower end of the drive shaft (5) passes through the track plate (1) The center is connected with the motor, the upper end of the drive shaft (5) is rigidly connected with the middle part of the middle crank (4), and the two ends of the middle crank (4) are respectively hinged with a connecting rod (3); the other end of the connecting rod (3) is symmetrical to two The set steering crank (2) is hinged, the other end of the steering crank (2) is hinged to the free end of the corresponding steering rod (7), and the other end of the steering rod (7) is rigidly connected to the upper end of the corresponding vertical shaft (6) .

Further, there is a 1/4 circular groove (13) at the four corners of the upper surface of the track plate (1), and the free end of the steering rod (7) can move along the corresponding 1/4 circular groove (13).

Further, there are straight grooves (11) at the left and right ends of the track plate (1), and the hinged end of the connecting rod (3) and the steering crank (2) can move along the corresponding straight grooves (11) on the track plate (1).

Further, the middle of the track plate (1) is a circular track, the drive shaft (5) is arranged at the center of the circular track, and the two ends of the middle crank (4) can move along the circular track.

Further, the annular track is an annular groove (12).

Further, the lower end of the driving shaft (5) is connected with the motor through a shaft coupling.

Further, the motor is a stepping motor (10).

Further, the wheel (8) is rigidly connected to the lower end of the corresponding vertical shaft (6) through the wheel frame (9).

A four-wheel in-situ steering trolley comprises any of the four-wheel in-situ steering mechanisms described above.

The four-wheel in-situ steering mechanism and the four-wheel in-situ steering trolley have the following beneficial effects:

(1) The present invention can realize in-situ steering in a narrow space, requires less space, is flexible in use, and has strong practicability.

(2) The present invention cleverly uses a link mechanism, has a compact structure and low manufacturing cost, and is suitable for popularization.

(3) The present invention sets circular grooves, straight grooves and 1/4 circular grooves on the track plate to constrain and limit the corresponding moving parts, and the work is accurate and reliable.

Description of drawings

Figure 1: Schematic diagram of the structure of the four-wheel in-situ steering mechanism of the present invention (state 1);

Figure 2: Schematic diagram of the structure of the four-wheel in-situ steering mechanism of the present invention (state 2);

Fig. 3: the connection structure schematic diagram of wheel among the present invention;

Fig. 4: Schematic diagram of the bottom structure of the four-wheel in-situ steering mechanism of the present invention.

Explanation of reference signs:

1—track plate; 11—straight groove; 12—circular groove; 13—1/4 circular groove; 2—steering crank; 3—connecting rod; 4—middle crank; 5—drive shaft; 6—vertical shaft; 7 - steering rod; 8 - wheel; 9 - wheel frame; 10 - stepping motor.

detailed description

Below in conjunction with accompanying drawing, the present invention will be further described:

Figures 1 to 4 show a four-wheel in-situ steering mechanism, including a track plate 1, four wheels 8 and a steering link mechanism. The four wheels 8 are respectively rigidly connected to the corresponding vertical shafts 6 and are arranged on the lower surface of the track plate 1 through the vertical shafts 6 , and the steering link mechanism is arranged on the upper surface of the track plate 1 . In the middle of the track plate 1 is a circular track. In the present embodiment, the circular track is a circular groove 12; each of the four corners of the track plate 1 has a 1/4 circular groove 13, and each of the left and right ends of the track plate 1 has a straight groove. Groove 11. The steering link mechanism includes a steering crank 2 , a connecting rod 3 , an intermediate crank 4 , a drive shaft 5 and a steering rod 7 . The driving shaft 5 is arranged in the annular groove 12, the lower end of the driving shaft 5 passes through the center of the track plate 1 and is connected with the stepper motor 10 through a coupling, and the upper end of the driving shaft 5 is rigidly connected with the center of the middle crank 4 to drive the middle crank 4 rotate. The two ends of the middle crank 4 are hinged to a connecting rod 3 respectively, and the connecting pins between the two ends of the middle crank 4 and the connecting rod 3 move along the annular groove 12 . The other end of the connecting rod 3 is hinged with two symmetrically arranged steering cranks 2, and the hinge pin at this end of the connecting rod 3 moves along the straight groove 11. The other end of the steering crank 2 is hinged with the corresponding steering rod 7, and the hinge pin at this end moves along the corresponding 1/4 circular groove 13. The other end of the steering rod 7 is rigidly connected with the corresponding upper end of the vertical rotating shaft 6 . The lower end of the vertical rotating shaft 6 passes through the track plate 1 and is connected with the wheel 8 through the wheel frame 9, as shown in Fig. 3 and Fig. 4 .

When working, as shown in Figure 1, in this state 1, the chassis can move along the X-axis direction; when turning, the stepper motor 10 drives the drive shaft 5 to rotate counterclockwise through the coupling, and the drive shaft 5 drives the middle crank 4 to rotate counterclockwise. Turn clockwise, the connecting pins at both ends of the middle crank 4 move counterclockwise along the circular groove 12, thereby driving the connecting rod 3 to move, and the other end of the connecting rod 3 slides along the straight groove 11 in the X-axis direction on the track plate 1; the connecting rod 3 Drive the four steering cranks 2 to move, and the steering crank 2 drives the free end of the corresponding steering rod 7 to slide in the 1/4 circular groove 13 on the track plate 1, thereby driving the vertical shaft 6 rigidly connected with the steering rod 7 to rotate, The vertical rotating shaft 6 drives the wheel 8 to rotate through the wheel frame 9 rigidly connected with it; the steering rod 7 drives the vertical rotating shaft 6 to rotate through 90 degrees to reach the limit position, the stepper motor 10 stops working, and completes the in-situ steering, reaching state 2, as shown in Figure 2 As shown, the chassis can move along the Y axis.

Similarly, when it is necessary to turn from state 2 to state 1, it is only necessary to change the rotation direction of the stepping motor 10 .

Above, the present invention has been exemplarily described in conjunction with the accompanying drawings. Obviously, the realization of the present invention is not limited by the above-mentioned manner, as long as various improvements of the method concept and technical solutions of the present invention are adopted, or the present invention is implemented without improvement. The ideas and technical schemes directly applied to other occasions are within the protection scope of the present invention.

Claims (10)

1. A four-wheel in-situ steering mechanism, including four wheels (8), characterized in that it also includes a track plate (1) and a steering linkage mechanism, and the wheels (8) are rigid to the corresponding vertical shafts (6). Connected and set on the lower surface of the track plate (1) through the vertical shaft (6), the steering link mechanism is set on the upper surface of the track plate (1); the steering link mechanism drives the vertical shaft (6) to rotate 90 degrees to drive the wheels (8) Turn 90 degrees on the spot. 2. The four-wheel in-situ steering mechanism according to claim 1, characterized in that: the steering link mechanism includes a steering crank (2), a connecting rod (3), an intermediate crank (4), a drive shaft (5) and a steering Rod (7); the lower end of the driving shaft (5) passes through the center of the track plate (1) to connect with the motor, the upper end of the driving shaft (5) is rigidly connected to the middle part of the middle crank (4), and the two ends of the middle crank (4) are respectively connected to a The rod (3) is hinged; the other end of the connecting rod (3) is hinged with two symmetrically arranged steering cranks (2), and the other end of the steering crank (2) is hinged with the free end of the corresponding steering rod (7). The other end of the rod (7) is rigidly connected to the upper end of the corresponding vertical shaft (6). 3. The four-wheel in-situ steering mechanism according to claim 2, characterized in that: there is a 1/4 circular groove (13) at the four corners of the upper surface of the track plate (1), and the free end of the steering rod (7) can be moved along the Corresponding 1/4 circular groove (13) moves. 4. The four-wheel in-situ steering mechanism according to claim 2, characterized in that: there are straight grooves (11) at the left and right ends of the track plate (1), and one end of the connecting rod (3) is hinged to the steering crank (2) It can move along the corresponding straight groove (11) on the track plate (1). 5. The four-wheel in-situ steering mechanism according to claim 2, 3 or 4, characterized in that: there is a circular track in the middle of the track plate (1), and the drive shaft (5) is set at the center of the circular track, The two ends of middle crank (4) can move along circular orbit. 6. The four-wheel in-situ steering mechanism according to claim 5, characterized in that the circular track is a circular groove (12). 7. The four-wheel in-situ steering mechanism according to claim 2, 3, 4 or 6, characterized in that: the lower end of the drive shaft (5) is connected to the motor through a coupling. 8. The four-wheel in-situ steering mechanism according to any one of claims 2 to 7, characterized in that the motor is a stepping motor (10). 9. The four-wheel in-situ steering mechanism according to claim 1, 2, 3, 4 or 6, characterized in that the wheels (8) are rigidly connected to the lower end of the corresponding vertical shaft (6) through the wheel frame (9) . 10. A four-wheel steering trolley, characterized in that it comprises the four-wheel steering mechanism according to any one of claims 1 to 9.