CN103434391B - For driving and the steering hardware of automatic driving vehicle - Google Patents
For driving and the steering hardware of automatic driving vehicle Download PDFInfo
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- CN103434391B CN103434391B CN201310359712.8A CN201310359712A CN103434391B CN 103434391 B CN103434391 B CN 103434391B CN 201310359712 A CN201310359712 A CN 201310359712A CN 103434391 B CN103434391 B CN 103434391B
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- wheel carrier
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- 238000001514 detection method Methods 0.000 claims abstract description 22
- 238000013016 damping Methods 0.000 claims abstract description 15
- 238000005096 rolling process Methods 0.000 claims abstract description 9
- 239000002131 composite material Substances 0.000 claims abstract description 8
- 239000011148 porous material Substances 0.000 claims abstract description 8
- 230000005540 biological transmission Effects 0.000 claims description 11
- 229920000136 polysorbate Polymers 0.000 claims description 7
- 150000001875 compounds Chemical class 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 3
- 238000012856 packing Methods 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 239000000853 adhesive Substances 0.000 abstract description 2
- 230000001070 adhesive effect Effects 0.000 abstract description 2
- 230000033001 locomotion Effects 0.000 description 6
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012806 monitoring device Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
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- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
A kind of driving for automatic driving vehicle and steering hardware are provided, have and drive wheel carrier and drive wheel assembly, described driving wheel carrier to be connected with vehicle frame by damping and to drive wheel carrier both sides to be provided with composite rolling wheel, and described vehicle frame dual-side is shaped with rail groove and composite rolling wheel scroll-up/down in rail groove; The housing of change speed gear box is fixedly connected with driving the connection cover in wheel carrier lumen pore to bearings with by boring, described connection cover is fixedly connected with upper press cover and can rotates in lumen pore, connection cover excircle is provided with big gear wheel simultaneously, and described big gear wheel engages with the miniature gears be arranged on steer motor output shaft; Described driving wheel carrier is provided with electromagnetic detection.The present invention is simple and compact for structure, is convenient to manufacture, installment and debugging; The traction adjustable of drive wheel, avoids drive wheel to skid because adhesive ability is not enough; Operate steadily, damping is good, without stuck phenomenon; Effectively extend the life-span of electric wire, improve the safety performance of vehicle; Course changing control is accurate.
Description
Technical field
The invention belongs to automatic driving vehicle technical field, be specifically related to a kind of driving for automatic driving vehicle and steering hardware.
Background technology
Modern society is informationized society, artificial intelligence with automatically control the every aspect penetrating into daily life, the progress of information techenology and Eltec is that the development of intelligent transportation provides good basis, intelligent transportation has become the direction of futurity industry vehicle development, traditional industry vehicle has navigating mate to drive, the subjective factor impact that the travel conditions of vehicle is subject to people is larger, therefore due to operation lack of standardization and the maloperation of navigating mate, the urban road traffic congestion caused, road flow reduces, the problems such as major traffic accidents take place frequently are day by day serious, bring greatly than just and endanger to the productive life of people, the driving of automatic driving vehicle and to turn to be one of important indicator weighing vehicle performance, the driving of automatic driving vehicle and steering hardware are then the keys ensureing automatic driving vehicle auto-steering performance, turning to driving device structure of existing automatic driving vehicle is complicated, damping effect is poor, there is stuck phenomenon, course changing control low precision, therefore, be necessary to improve.
Summary of the invention
The technical matters that the present invention solves: provide a kind of course changing control accurate, is particularly suitable for the driving for automatic driving vehicle and the steering hardware of the driving of driverless operation industrial vehicle/turn to Guidance control.
The technical solution used in the present invention: for driving and the steering hardware of automatic driving vehicle, have and drive wheel carrier and drive wheel assembly, described driving wheel carrier to be connected with vehicle frame by damping and to drive wheel carrier both sides to be provided with composite rolling wheel, and described vehicle frame dual-side is shaped with rail groove and composite rolling wheel scroll-up/down in rail groove; Described drive wheel assembly comprises drive motor, change speed gear box and drive wheel, described drive motor output shaft is connected with transmission one axle be arranged in change speed gear box, the driving gear that described transmission one axle is arranged engages with the ring gear be arranged on tween drive shaft in change speed gear box and parallel with transmission one axle, and gear reduction to be arranged on tween drive shaft and to drive drive wheel to rotate; The housing of change speed gear box is fixedly connected with driving the connection cover in wheel carrier lumen pore to bearings with by boring, described connection cover is fixedly connected with upper press cover and can rotates in lumen pore, connection cover excircle is provided with big gear wheel simultaneously, and described big gear wheel engages with the miniature gears be arranged on steer motor output shaft; Described driving wheel carrier is provided with and detects drive wheel steering angle at any time and the closed loop control electromagnetic detection its numeric feedback being realized vehicle operating to master control system.
Wherein, described damping comprises top board, pilot bar and dampening assembly, described dampening assembly one end is fixedly connected with top board, the dampening assembly other end is connected with driving wheel carrier with anticreep packing ring by bolt, described pilot bar one end is through the pilot hole on top board, the pilot bar other end is through vehicle frame also with nut locking, and described dampening assembly inside is provided with damping compound sleeve.
Further, be provided with in described drive motor and accurately detect the cireular frequency coder of drive motor running velocity and drive motor carried out to the temperature sensor of temperature detection and monitoring.
Further, described electromagnetic detection comprises detection ring and electromagnetic receiver, described detection ring and electromagnetic receiver are all fixed on drive wheel assembly, and described electromagnetic receiver accurately detects the position of detection ring thus the steering angle of detection drive wheel assembly realizes closed loop control.
The present invention's advantage compared with prior art:
1, simple and compact for structure, be convenient to manufacture, installment and debugging;
2, the traction adjustable of drive wheel, avoids drive wheel to skid because adhesive ability is not enough;
3, operate steadily, damping is good, without stuck phenomenon;
4, when vehicle to run is turned, assembly of the present invention can only up-and-down movement being cushioned by damping;
5, during steering manipulation only change speed gear box around drive motor axis rotation, there is not other direction actions in drive motor and steer motor, thus avoid the frequent movement of connecting cable and control path electric wire, effectively extend the life-span of electric wire, improve the safety performance of vehicle;
6, course changing control is accurate, is particularly suitable for the driving of automatic driving vehicle/turn to Guidance control.
Accompanying drawing explanation
Fig. 1 is perspective view of the present invention;
Fig. 2 is front view of the present invention;
Fig. 3 is left view of the present invention;
Fig. 4 is the structural representation of damping of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing 1-4, a kind of embodiment of the present invention is described.
For driving and the steering hardware of automatic driving vehicle, have and drive wheel carrier 1 and drive wheel assembly 2, described driving wheel carrier 1 to be connected with vehicle frame 10 by damping 7 and to drive wheel carrier 1 both sides to be provided with composite rolling wheel 8, concrete, described damping 7 comprises top board 21, pilot bar 22 and dampening assembly 23, described dampening assembly 23 one end is fixedly connected with top board 21, dampening assembly 23 other end is connected with driving wheel carrier 1 with anticreep packing ring 26 by bolt 25, described pilot bar 22 one end is through the pilot hole 30 on top board 21, pilot bar 22 other end also uses nut locking through vehicle frame 10, described dampening assembly 23 inside is provided with damping compound sleeve 24.Described vehicle frame 10 dual-side is shaped with rail groove 11 and composite rolling wheel 8 scroll-up/down in rail groove 11, and mode of motion is rolling movement, and friction force is little, and tolerance clearance is little, without rocking impact, is convenient to Installation and Debugging, low cost of manufacture, and opposing road shocks is powerful.Described drive wheel assembly 2 comprises drive motor 3, change speed gear box 5 and drive wheel 6, concrete, be provided with in described drive motor 3 and accurately detect the cireular frequency coder 32 of drive motor 3 running velocity and drive motor 3 carried out to the temperature sensor 33 of temperature detection and monitoring.Described drive motor 3 output shaft is connected with transmission one axle 27 be arranged in change speed gear box 5, ring gear 4 on the tween drive shaft 29 that the driving gear 28 that described transmission one axle 27 is arranged is interior and parallel with transmission one axle 27 with being arranged on change speed gear box 5 engages, and gear reduction 31 to be arranged on tween drive shaft 29 and to drive drive wheel 6 to rotate, the housing 18 of change speed gear box 5 drives the connection cover 14 in wheel carrier 1 lumen pore 20 to be fixedly connected with by boring to be supported on to bearing 19, described connection cover 14 is fixedly connected with upper press cover 17 and can rotates in lumen pore 20, connection cover 14 excircle is provided with big gear wheel 15 simultaneously, described big gear wheel 15 engages with the miniature gears 16 be arranged on steer motor 9 output shaft, when steer motor 9 works, miniature gears 16 drives big gear wheel 15 to rotate, thus make change speed gear box 5 around the center rotating of drive motor 3, there is not other direction action in drive motor 3 and steer motor 9, thus avoid the frequent movement of connecting cable and control path electric wire, effectively extend the life-span of electric wire, provide the safety performance of vehicle.Described driving wheel carrier 1 is provided with and detects drive wheel 6 steering angle at any time and the closed loop control electromagnetic detection its numeric feedback being realized vehicle operating to master control system, concrete, described electromagnetic detection comprises detection ring 12 and electromagnetic receiver 13, described detection ring 12 and electromagnetic receiver 13 are all fixed on drive wheel assembly 2, and described electromagnetic receiver 13 accurately detects the position of detection ring 12 thus the steering angle of detection drive wheel assembly 2 realizes closed loop control.
When drive motor 3 works, the output shaft of drive motor 3 drives transmission one axle 27 in change speed gear box 5 to rotate, thus make the driving gear 28 be arranged on transmission one axle 27 drive the ring gear 4 on tween drive shaft 29 to rotate, thus drive drive wheel 6 to rotate, when needs turn to, steer motor 9 works, miniature gears 16 on steer motor 9 output shaft drives the big gear wheel 15 on connection cover 14 excircle to work, because connection cover 14 is fixedly connected with the housing 18 of change speed gear box 5, therefore connection cover 14 drives when rotating change speed gear box 5 around the center rotating of drive motor 3, thus drive drive wheel 6 to turn to.Electromagnetic monitoring device can detect the steering angle of drive wheel 6.There is not other direction action in drive motor 3 and steer motor 9, thus avoids the frequent movement of connecting cable and control path electric wire, effectively extends the life-span of electric wire, provides the safety performance of vehicle.
Above-described embodiment, just preferred embodiment of the present invention, is not used for limiting the scope of the present invention, therefore all equivalence changes done with content described in the claims in the present invention, all should be included within the claims in the present invention scope.
Claims (4)
1. for driving and the steering hardware of automatic driving vehicle, there is driving wheel carrier (1) and drive wheel assembly (2), it is characterized in that: described driving wheel carrier (1) to be connected with vehicle frame (10) by damping (7) and to drive wheel carrier (1) both sides to be provided with composite rolling wheel (8), and described vehicle frame (10) dual-side is shaped with rail groove (11) and composite rolling wheel (8) scroll-up/down in rail groove (11); Described drive wheel assembly (2) comprises drive motor (3), change speed gear box (5) and drive wheel (6), described drive motor (3) output shaft is connected with transmission one axle (27) be arranged in change speed gear box (5), the upper driving gear (28) arranged of described transmission one axle (27) engages with the ring gear (4) be arranged on tween drive shaft (29) in change speed gear box (5) and parallel with transmission one axle (27), and gear reduction (31) is arranged on tween drive shaft (29) and goes up and drive drive wheel (6) to rotate; The housing (18) of change speed gear box (5) drives the connection cover (14) in wheel carrier (1) lumen pore (20) to be fixedly connected with by boring to be supported on to bearing (19), described connection cover (14) is fixedly connected with upper press cover (17) and can rotates in lumen pore (20), connection cover (14) excircle is provided with big gear wheel (15) simultaneously, and described big gear wheel (15) engages with the miniature gears (16) be arranged on steer motor (9) output shaft; Described driving wheel carrier (1) is provided with detects drive wheel (6) steering angle and the closed loop control electromagnetic detection its numeric feedback being realized vehicle operating to master control system at any time.
2. the driving for automatic driving vehicle according to claim 1 and steering hardware, it is characterized in that: described damping (7) comprises top board (21), pilot bar (22) and dampening assembly (23), described dampening assembly (23) one end is fixedly connected with top board (21), dampening assembly (23) other end is connected with driving wheel carrier (1) with anticreep packing ring (26) by bolt (25), described pilot bar (22) one end is through the pilot hole (30) on top board (21), pilot bar (22) other end is through vehicle frame (10) and with nut locking, described dampening assembly (23) inside is provided with damping compound sleeve (24).
3. the driving for automatic driving vehicle according to claim 1 and 2 and steering hardware, is characterized in that: be provided with the cireular frequency coder (32) accurately detecting drive motor (3) running velocity and the temperature sensor (33) drive motor (3) being carried out to temperature detection and monitoring in described drive motor (3).
4. the driving for automatic driving vehicle according to claim 3 and steering hardware, it is characterized in that: described electromagnetic detection comprises detection ring (12) and electromagnetic receiver (13), described detection ring (12) and electromagnetic receiver (13) are all fixed on drive wheel assembly (2), and described electromagnetic receiver (13) accurately detects the position of detection ring (12) thus the steering angle of detection drive wheel assembly (2) realizes closed loop control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310359712.8A CN103434391B (en) | 2013-08-16 | 2013-08-16 | For driving and the steering hardware of automatic driving vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310359712.8A CN103434391B (en) | 2013-08-16 | 2013-08-16 | For driving and the steering hardware of automatic driving vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103434391A CN103434391A (en) | 2013-12-11 |
| CN103434391B true CN103434391B (en) | 2015-12-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201310359712.8A Expired - Fee Related CN103434391B (en) | 2013-08-16 | 2013-08-16 | For driving and the steering hardware of automatic driving vehicle |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103640472B (en) * | 2013-12-25 | 2016-05-18 | 上海中科深江电动车辆有限公司 | There is endless-track vehicle electric actuator and the corresponding control method of servo steering function |
| CN104443012A (en) * | 2014-11-28 | 2015-03-25 | 浙江上加机械有限公司 | Shockproof support for electronic power-assisted steering system |
| CN105890443A (en) * | 2014-12-15 | 2016-08-24 | 广西大学 | Universal drive device |
| CN104960383A (en) * | 2015-05-18 | 2015-10-07 | 苏州先锋物流装备科技有限公司 | Steering wheel device with adjustable buffer force |
| CN108749955A (en) * | 2018-07-26 | 2018-11-06 | 上海测迅汽车科技有限公司 | Traffic simulation body carrying platform for unmanned test |
| CN109466312B (en) * | 2018-11-27 | 2020-11-06 | 合肥工业大学 | All-directional mobile robot and wheel device thereof |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102005047958A1 (en) * | 2005-10-06 | 2007-06-14 | Jungheinrich Ag | Drive and steering device for a truck |
| JP2010018054A (en) * | 2008-07-08 | 2010-01-28 | Nippon Yusoki Co Ltd | Autonomous turning device |
| DE102009040043A1 (en) * | 2009-09-01 | 2011-03-03 | Jungheinrich Ag | Drive and steering device for a truck |
| DE102009054726A1 (en) * | 2009-12-16 | 2011-06-22 | ZF Friedrichshafen AG, 88046 | Drive unit of a truck |
| CN102826117B (en) * | 2012-08-29 | 2014-12-17 | 杭州华叉科技有限公司 | Small and light electric forklift |
| CN203401966U (en) * | 2013-08-16 | 2014-01-22 | 杨鹏波 | Driving and steering device for unmanned vehicle |
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2013
- 2013-08-16 CN CN201310359712.8A patent/CN103434391B/en not_active Expired - Fee Related
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| CN103434391A (en) | 2013-12-11 |
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| C14 | Grant of patent or utility model | ||
| C41 | Transfer of patent application or patent right or utility model | ||
| CB03 | Change of inventor or designer information |
Inventor after: Yang Pengbo Inventor after: Wang Dapeng Inventor after: Yang Ke Inventor after: Yang Pengwei Inventor before: Yang Pengbo Inventor before: Wang Dapeng |
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| TA01 | Transfer of patent application right |
Effective date of registration: 20151207 Address after: Ten road 721004 Baoji city of Shaanxi province Guo Hospital No. 10 Building 2, unit 1, No. 8 Applicant after: Baoji Hewitt Machinery Technology Co.,Ltd. Address before: Ten road 721004 Baoji city of Shaanxi province Guo Hospital No. 10 Building 2, unit 1, No. 8 Applicant before: Yang Pengbo |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20151230 |