CN106882255A - A kind of compound arrangement of levers for the new motor ambulance control of multiple degrees of freedom - Google Patents
A kind of compound arrangement of levers for the new motor ambulance control of multiple degrees of freedom Download PDFInfo
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- CN106882255A CN106882255A CN201710205100.1A CN201710205100A CN106882255A CN 106882255 A CN106882255 A CN 106882255A CN 201710205100 A CN201710205100 A CN 201710205100A CN 106882255 A CN106882255 A CN 106882255A
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- freedom
- levers
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- 150000001875 compounds Chemical class 0.000 title claims abstract description 42
- 239000000725 suspension Substances 0.000 claims abstract description 75
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- 230000001172 regenerating effect Effects 0.000 claims abstract description 10
- 238000006243 chemical reaction Methods 0.000 claims description 24
- 230000007246 mechanism Effects 0.000 claims description 22
- 230000005611 electricity Effects 0.000 claims description 11
- 238000011084 recovery Methods 0.000 claims description 10
- 238000013528 artificial neural network Methods 0.000 claims description 7
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
- B62D1/02—Steering controls, i.e. means for initiating a change of direction of the vehicle vehicle-mounted
- B62D1/12—Hand levers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K26/00—Arrangements or mounting of propulsion unit control devices in vehicles
- B60K26/02—Arrangements or mounting of propulsion unit control devices in vehicles of initiating means or elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/02—Brake-action initiating means for personal initiation
- B60T7/08—Brake-action initiating means for personal initiation hand actuated
- B60T7/10—Disposition of hand control
Abstract
The invention belongs to technical field of automobile control, it is related to a kind of compound arrangement of levers for the new motor ambulance control of multiple degrees of freedom.Compound arrangement of levers instead of steering wheel, gas pedal, brake pedal and the gear of orthodox car, being installed on the control stick of driver's left-hand side is used for the multi-mode steering of automobile, multiple degrees of freedom feed energy suspension system is controlled, being installed on the control stick of driver's right-hand side is used for the multi-mode driving of automobile, energy regenerative control for brake.Multi-mode steering can improve mobility of the motor ambulance in the crowded road conditions in middle low speed city, realize being moved in the fast free of all directions, multi-mode is driven to automobile and increased driving and turn to fault tolerance, multiple degrees of freedom feed energy suspension system can keep vehicle body relative level all the time, making the patient of transport has enough comfortablenesses, accurate road feel after treatment can be fed back to compound arrangement of levers by steering, suspension, acceleration and braking, improve the operability of automobile.
Description
Technical field
The invention belongs to technical field of automobile control, more specifically for, it is new for multiple degrees of freedom the present invention relates to one kind
The compound arrangement of levers of type motor ambulance control.
Background technology
Safety, energy-conservation and environmental protection are the developing direction of current automobile, and electronic and intelligentized type is the important hand for realizing this direction
Section, wire control technology frees steering from tradition machinery steering mechanism, it is possible to achieve four-wheel independent steering, independent drive
Dynamic, independent brake and the separately adjustable chassis framework of suspension system.
This advanced line traffic control automobile not only has the incomparable mobility of conventional truck, while by integrating full car
Sensor information, judge so as to output order using electronic control unit, improve active safety.
Traditional motor ambulance is turned to, accelerated, braking is controlled by steering wheel, gas pedal and brake pedal respectively, driver
, it is necessary to use both hands and feet when being operated to automobile, this undoubtedly increased operating burden to driver, and in case of emergency,
Driver is probably due to operation busy maloperation occur and causes danger.Current suspension species is a lot, and most of motor ambulances make
Suspension system performance is all poor, even with relatively advanced active suspension system, but Active suspension regulation from
It is limited by spending, and regulation has hysteresis quality, has a great impact to the patient comfort transported on the larger road surface of unevenness,
Possibly even the state of an illness of patient is aggravated because jolting.
In order to overcome the defect of above-mentioned prior art, the present invention to propose a kind of for the new motor ambulance control of multiple degrees of freedom
Compound arrangement of levers, steering, acceleration, braking, the suspension of the new motor ambulance etc. are connected using wire, by compound behaviour
Various driving modes of vertical pole control realization automobile, instead of the steering wheel of traditional motor ambulance, gas pedal, brake pedal and
Gear.The present invention drives and energy regenerative braking the multi-mode steering of automobile, multiple degrees of freedom feed energy suspension system control, multi-mode
Control function is integrated on compound control stick, and motor ambulance is controlled by compound arrangement of levers, and improve automobile can
Maneuverability and security, while ensure that the patient of transport possesses enough comfortablenesses.The new motor ambulance can also be by outstanding
The energy that frame system, brakes and accumulator are reclaimed charges to electricity consumption Medical Devices, while its high maneuverability
It is set to be walked with rapid traverse in urban congestion road.
The content of the invention
The present invention relates to a kind of compound arrangement of levers for the new motor ambulance control of multiple degrees of freedom, its feature exists
In steering, driving, braking, suspension of the new motor ambulance etc. are connected using wire, real by compound arrangement of levers control
The driving of existing automobile, instead of steering wheel, gas pedal, brake pedal and the gear of orthodox car；Compound arrangement of levers by
Two control stick compositions, being installed on the control stick of driver's left-hand side is used for the multi-mode steering of automobile, and multiple degrees of freedom energy regenerative is hanged
Frame system is controlled, and being installed on the control stick of driver's right-hand side is used for the multi-mode driving of automobile, energy recovery braking system control；It is outstanding
Frame system matches have multi-degree-of-freedom suspension lifting mechanism；Road feel can be fed back to multiple by the steering of automobile, suspension, acceleration and braking
Arrangement of levers is closed, the road feel of feedback can also realize energy regenerative.
Multiple grooves position design that compound arrangement of levers passes through horizontal direction, realizes various steering patterns, drive pattern
And accelerate, braking function it is integrated, while left control stick feed energy suspension system can also be carried out on vertical direction actively
Regulation.The steering of automobile the throttle of orthodox car had both been eliminated into driving, braking function by left and right control stick separate operation
Pedal, brake pedal, have liberated the right crus of diaphragm of driver, turn avoid will turn to, accelerate, braking be integrated on a control stick,
Driver turns to and the coupling interference for accelerating, braking in driver behavior.Compound arrangement of levers eliminates steering wheel, it is to avoid
Steering wheel also overcomes current some automobiles and is arranged in bosom gear control stick to the secondary injury of driver during collision scenario
Near steering wheel, the maloperation that driver occurs when the handles such as rain brush are operated.
New motor ambulance by wire connect to turn to, drive, braking, suspension be controlled, this height it is automatically controlled
Form is that electricity consumption Medical Devices are connected with feed energy suspension system, energy recovery braking system and provide convenience on motor ambulance, suspension system
Unite and reclaimed the energy that body vibrations are produced, kinetic energy in braking procedure is changed into brakes the portion of heat energy by friction
Transfer can be stored, and electricity consumption Medical Devices charge typically by the energy that suspension system, brakes are reclaimed, when
When the energy of recovery is not enough or connection is broken down, electricity consumption Medical Devices are then still filled by the normal mode on motor ambulance
Electricity, realizes suspension, brakes the abundant recycling for recovering energy, and meets the requirement to current vehicle energy saving.
The left control stick of compound arrangement of levers includes five groove positions, and concrete operation step is：When control stick is in centre
During groove position, automobile is the incorgruous independent steering of four-wheel；When control stick is shifted onto left groove position, automobile is pivot stud；Control stick is pushed away
During to right groove position, automobile is turned to for diagonal；When control stick is shifted onto preceding groove position, automobile is front-wheel steer；After control stick is shifted onto
During groove position, automobile enters row pattern.
Multi-mode steering can realize free switching of the motor ambulance in urban congestion road conditions difference steering pattern, give first aid to vapour
, in urban road, urban road vehicle flowrate is big, and road is crowded, and motor ambulance speed is relatively low, this feelings for car most cases downward driving
It is small by the incorgruous independent steering of four-wheel, pivot stud, diagonal steering and row moving automobile turning radius under condition, turn to spirit
It is living, it is possible to achieve automobile movement in any direction.
Multi-mode steering also increased fault tolerance for the steering of motor ambulance, when one of which steering pattern fails,
The steering capability that other steering patterns keep automobile can be switched to, wherein when row pattern breaks down, can be turned by diagonal
Make automobile transverse shifting to the extreme position for rotating wheel to 90 degree.
According to acceleration and stroke that control stick is slided in groove position, electronic control unit may determine that the steering angle of automobile
Degree size and steering urgency level, when driver's error in operation, electronic control unit can shield driver's false command, real
Existing Based Intelligent Control is turned to.
The right control stick of compound arrangement of levers equally includes five groove positions, when control stick is in medial launder position, automobile
It is four-wheel drive；At left groove position, automobile is front-wheel drive to control stick；At right groove position, automobile is rear wheel drive to control stick；Behaviour
At preceding groove position, automobile is acceleration pattern to vertical pole；At pit position, automobile is braking mode to control stick.
Multi-mode drive different road conditions can be automobile provide correspondingly size driving force, general operating mode use front-wheel or after
Wheel is driven, and when large driving force is needed, is cut into four-wheel drive pattern, realizes the driving Energy Saving Control of automobile, it is to avoid
The waste of four-wheel drive residue driving force is used always.Multi-mode is driven again as automobile increased driving and turn to fault-tolerant work(
Can, when a kind of drive pattern fails, the driven that other drive patterns ensure automobile can be quickly transferred to, when left control stick
Break down the steering that cannot carry out any pattern when, the four-wheel drive of right control stick deteriorates to rear wheel drive, and front-wheel is used for vapour
The steering of car, it is ensured that automobile all has steering capability under any circumstance.
Feed energy suspension system matches have multi-degree-of-freedom suspension lifting mechanism, automobile when uneven road surface is travelled, multiple degrees of freedom
Suspension frame lifting mechanism carries out multi-angle regulation to suspension to keep vehicle body relative level, rigidity, damping etc. without adjusting suspension
Parameter obtains preferable body gesture, so as to ensure that the motor ambulance for transporting patient has enough comfortablenesses.
Left control stick is connected with multi-degree-of-freedom suspension system by wire, and under different pavement conditions, driver can be by
Left control stick continuously lifts or presses different height and multi-degree-of-freedom suspension lifting mechanism is adjusted in vertical direction, real
Now to the active step-less adjustment of suspension system, overcoming control button and actively adjust suspension system can only realize limited several patterns
The limitation of regulation, at the same control stick compared to control button regulation do not need driver's hand carry out shifting function, while drive
Member can perceive the road feel that suspension system is fed back by hand, it is not necessary to be perceived with body.
Road feel can be fed back to compound arrangement of levers, automobile by the steering of new motor ambulance, suspension, driving and braking
Multi-mode road feel is fed back compared with the road feel of monotype feeds back, and driver can more accurately grasp road conditions, improve and drive
The person of sailing more concentrates to the controllability of automobile, and the road feel that compound arrangement of levers is received, and is easy to electronic control unit to process,
Orthodox car steering wheel, gas pedal, brake pedal and suspension all can only the road feel of feedback one, electronic control unit receives
Road feel feedback information it is discrete, deal with relative complex.
Neural network algorithm has not required the data of learning training strong time sequencing compared to other algorithms, and is applicable
In nonlinear system, with self-organizing and self-learning capability, it can recognize and train after study to the feature of training sample
Sample is similar but without trained data sample, and with Generalization Ability well, arithmetic accuracy is very high.New motor ambulance
Multi-mode steering causes the characteristics of current signal that steering motor is exported has real time nonlinear, by neural network algorithm to not
Learning training is carried out with current signal to recognize different steering patterns, the road feel that can feed back miniature linear is more accurate
Really.
The uneven disk of one Mass Distribution is installed, disk is lifted by bar linkage structure with multi-degree-of-freedom suspension in left control stick
Rise mechanism to be connected, when suspension motor drives suspension frame lifting mechanism to work, driving disk irregularly to rotate shakes left control stick,
According to the difference of suspension motor output torque, the left strong and weak effect difference of control stick shake realizes the road feel feedback of suspension system.
Right control stick arranges acceleration transducer and reaction force switch in the longitudinal degress of feedom, contains in reaction force switch
There is an accumulator, when operating right control stick to be accelerated or braked, acceleration transducer is slided driver to right control stick
Acceleration is measured, and reaction force switch slides acceleration responsive and sets a threshold value to control stick, when acceleration or braking
When right control stick slides acceleration less than given threshold, automobile is illustrated for common driving cycle, reaction force is switched institute's stress
It is stored in accumulator, reaction force switch is not operated；When right control stick slides acceleration is more than given threshold, explanation
Automobile is in urgent acceleration or brake condition, and accumulator exoergic makes reaction force switch start-up operation, slided according to right control stick
The size of acceleration applies different reaction forces to right control stick, has both improved common acceleration or damped condition driver operation
The portability of right control stick, realizes urgent acceleration or damped condition to feeding back the perception of road feel again；Simultaneously accumulator to accelerate,
The recovery of road feel also achieves energy regenerative during braking, can be used for the charging of electricity consumption Medical Devices.
Compared with prior art the beneficial effects of the invention are as follows：
1. the compound arrangement of levers for the new motor ambulance control of multiple degrees of freedom of the present invention is by left manipulation
Bar carries out multi-mode steering control to motor ambulance, improves mobility of the automobile in urban congestion road, it is possible to achieve quick
Displacement is walked；Multi-mode is driven by right control stick, braking is controlled, and instead of gas pedal and brake pedal, liberated
The right crus of diaphragm of driver, it is ensured that it will not in case of emergency step on wrong pedal, multi-mode drive also for automobile increased drivings, turn
To fault tolerance.
2. the compound arrangement of levers for the new motor ambulance control of multiple degrees of freedom of the present invention have matched more certainly
By degree suspension frame lifting mechanism, the active step-less adjustment to suspension system is realized, keep vehicle body relative level, ensureing to transport patient
In the case of having enough comfortablenesses, driver can receive the road feel that suspension system is fed back by left control stick.
3. the compound arrangement of levers for the new motor ambulance control of multiple degrees of freedom of the present invention can make driving
Member receives the road feel of steering, suspension, acceleration and Brake feedback, and electricity consumption Medical Devices can be by feed energy suspension system, energy regenerative
The energy that the accumulator of brakes and reaction force switch is reclaimed is charged.
Brief description of the drawings
The present invention is further illustrated below in conjunction with the accompanying drawings：
Fig. 1 is institute in a kind of compound arrangement of levers for the new motor ambulance control of multiple degrees of freedom of the present invention
Compound arrangement of levers structure, the position view being related to；
Fig. 2 is institute in a kind of compound arrangement of levers for the new motor ambulance control of multiple degrees of freedom of the present invention
The left control stick multi-mode steering operating principle figure being related to；
Fig. 3 is institute in a kind of compound arrangement of levers for the new motor ambulance control of multiple degrees of freedom of the present invention
The right control stick multi-mode being related to drives, brake operating schematic diagram；
Fig. 4 is institute in a kind of compound arrangement of levers for the new motor ambulance control of multiple degrees of freedom of the present invention
The structural representation of the multi-degree-of-freedom suspension lifting mechanism being related to.
Specific embodiment
The present invention is explained in detail below in conjunction with the accompanying drawings：
Referring to the drawings shown in 1, being combined arrangement of levers includes right control stick 1, left control stick 13, wherein the water of right control stick 1
Average face is disposed with preceding groove position 2, left groove position 3, medial launder position 4, pit position 5 and right groove position 6, and left control stick horizontal plane is disposed with
Left groove position 7, pit position 8, medial launder position 9, right groove position 10 and preceding groove position 11.Operator's seat seat base 12 is used to support operator's seat
Chair 15, left control stick 13 and right control stick 1 are distributed in the both sides of driver 14.Left control stick 13 is used for the multi-mode steering of automobile,
Multiple degrees of freedom feed energy suspension system is controlled, and the multi-mode that right control stick 1 is used for automobile drives, energy recovery braking system control.
Referring to the drawings shown in 2, the control stick free degree more compared to steering wheel is carried for the arrangement of the various steering patterns of automobile
Advantage is supplied, driver can by the medial launder of left control stick position and all around freely cutting between five grooves positions
Change, realize the incorgruous independent steering of the multi-mode steering of new motor ambulance, i.e. four-wheel, pivot stud, diagonal steering, front-wheel steer
And row movement.Four-wheel independent steering has the incorgruous independent steering of four-wheel and four-wheel two kinds of forms of independent steering in the same direction, and four-wheel is same
To independent steering when automobile driving speed is higher with good handling maneuver stability, the incorgruous independent steering of four-wheel is in automobile
Turned to during middle low speed flexibly, with mobility high, for often travelling on the motor ambulance of urban congestion road, traveling
Speed generally will not be too high, and mobility is only problem demanding prompt solution, therefore the selection incorgruous independent steering of four-wheel, and speed is higher
When, select general front-wheel steer just can meet demand.
When new motor ambulance traveling in crowded, narrow urban road when, driver can be switched to pivot stud, tiltedly
Row steering pattern or row mobile vehicle, realize automobile moving freely in any direction, make automobile flexibly quickly through gathering around
Squeeze road conditions.Multi-mode steering is integrated on a control stick, and driver is remarkably improved according to road conditions steering operation easy switching
The mobility of automobile.
The stroke that the electronic control unit of new motor ambulance is slided according to left control stick in corresponding groove position, it can be determined that
Go out the size of automotive steering angle, according to the acceleration for sliding, it can be determined that go out the urgency level of driver's steering, in driver
When operating wrong, driver's mistake turn signal can be shielded, realize automated steering control.
5 miniature linears in left control stick horizontal plane groove position are used to produce feedback moment, motor ambulance to pass through
Neural network algorithm carries out learning training to recognize different steering patterns to the current signal that steering motor is exported, and automobile is in original
Under ground steering, diagonal steering and row pattern, miniature linear is according to the current signal after neural network algorithm learning training
The torque of generation is smaller, and left operating lever operation is light, and driver can realize fast free of the motor ambulance in low speed small space
Displacement, automobile speed in the incorgruous independent steering of four-wheel and front-wheel steer is higher, and miniature linear is according to neural network algorithm
The torque that current signal after learning training is produced is larger, and the feedback road feel that driver perceives is clear, improves vehicle safety.
Referring to the drawings shown in 3, driver can switch by between three grooves position horizontal on right control stick, realize rescue
The multi-mode of automobile drives, i.e. four-wheel drive, front-wheel drive and rear wheel drive.Multiple drive modes can meet automobile in difference
Road conditions are to the demand of driving force, while multiple drive modes also increased driving for new motor ambulance, turn to fault tolerance, when
A kind of drive pattern breaks down when can not drive, and driver quickly can be cut into other drive patterns by control stick to make
The traveling of automobile is unaffected, it is ensured that will not delay the transport therapeutic time of patient, four-wheel drive mould because of Automobile drive failure
Formula can also provide steering fault tolerance, when left control stick breaks down loses steering capability completely, the four of right control stick
Wheel drive deteriorates to rear wheel drive, and front-wheel automotive steering improves the control stability of automobile.
On this single-degree-of-freedom of right control stick longitudinal direction, being respectively for being arranged in groove accelerates and brakes, while include adding
Velocity sensor and reaction force are switched, and have accumulator in reaction force switch.To accelerate and control for brake is integrated into control stick
On, the right crus of diaphragm of driver is without accelerator pedal and brake pedal again so that right crus of diaphragm can also be placed freely, alleviate driver
Operating burden.
When operating right control stick to be accelerated or braked, acceleration transducer slides acceleration to driver to right control stick
Measure, reaction force switch slides acceleration responsive and sets a threshold value, the right manipulation when acceleration or braking to control stick
When bar slides acceleration less than given threshold, automobile is illustrated for common driving cycle, be stored in for institute's stress by reaction force switch
In accumulator, reaction force switch is not operated；When right control stick slides acceleration is more than given threshold, illustrate at automobile
Accelerate or brake condition in urgent, accumulator exoergic makes reaction force switch start-up operation, and acceleration is slided according to right control stick
Size different reaction forces are applied to right control stick.Slip of the reaction force switch according to right control stick in groove position accelerates
Degree applies different reaction forces, had both improved common acceleration or damped condition driver operates the portability of right control stick, and
Urgent acceleration or damped condition are realized to feeding back the perception of road feel；Accumulator accelerates to the common driving cycle of automobile, makes simultaneously
The recovery of road feel torque also achieves energy regenerative when dynamic, can be used for the standby charging of electricity consumption Medical Devices.
Referring to the drawings 2, shown in 3, by being combined arrangement of levers, new motor ambulance will be turned to and acceleration, braking function
Separate, it is to avoid this three is integrated into coupling interference during operation on same control stick, will be accelerated and braking is integrated into one
On individual control stick, driver's operating habit is combined, it is exactly to accelerate pattern that control stick is pushed forward into preceding groove position, is urged rearwardly into pit position
As braking mode, driver is not in maloperation.
Referring to the drawings shown in 4, suspension system have matched multi-degree-of-freedom suspension lifting mechanism, and suspension frame lifting mechanism includes upper table
Face 16, universal coupling 17, mechanical shaft group 18, lower surface 19, universal coupling 20, mechanical shaft group 21, universal coupling 22 and mechanical shaft
Group 23, mechanical shaft group 18,21,23 includes two mechanical rod members, and mechanical rod length can be with telescopic variation, suspension frame lifting machine
It is connected at an angle by mechanical shaft group 18,21,23 between structure upper surface 16 and lower surface 19, composition 6DOF suspension is lifted
Mechanism is risen, 6 frees degree are only drawn in accompanying drawing of the present invention, in practical application, can as needed increase mechanical shaft group quantity, it is real
The existing any number of frees degree.
Left control stick 13 is connected with multi-degree-of-freedom suspension lifting mechanism by CAN, and new motor ambulance is in unevenness
During larger road traveling, driver can be adjusted to control stick manually, and left control stick is continuously lifted in vertical direction
Different height are played or depress, suspension motor can be to drive multi-degree-of-freedom suspension lifting mechanism to work, during regulation, suspension
The telescopic that lifting mechanism passes through lower surface 19, the universal coupling 17,20,22 of mechanical shaft group 18,21,23 and mechanical rod member
Multiple directions change of pitch angle can be realized to ensure the relative level all the time of upper surface 16, so that motor ambulance vehicle body is smoothly passed
Uneven road surface, meets requirement of the patient to comfortableness.
Being lifted by continuous on vertical freedom degree to left control stick or pressing operation can be realized to suspension system
Active step-less adjustment, existing control button carries out actively regulation to suspension system and can only realize a limited number of pattern, and
Although control button is adjusted to vehicle body, driver loses the road feel of suspension system feedback, and control stick then can be with
Make up this defect.
Claims (10)
1. a kind of compound arrangement of levers for the control of multiple degrees of freedom new motor ambulance, it is characterised in that the new rescue
Steering, driving, braking, suspension of automobile etc. are connected using wire, by being combined the driving of arrangement of levers control realization automobile,
Instead of steering wheel, gas pedal, brake pedal and the gear of orthodox car；Compound arrangement of levers is by two control stick groups
Into being installed on the control stick of driver's left-hand side is used for the multi-mode steering of automobile, the control of multiple degrees of freedom feed energy suspension system, peace
The multi-mode that control stick loaded on driver's right-hand side is used for automobile drives, energy recovery braking system control；Suspension system matching has
Multi-degree-of-freedom suspension lifting mechanism；Road feel can be fed back to compound control stick dress by the steering of automobile, suspension, acceleration and braking
Put, the road feel of feedback can also realize energy regenerative.
2. according to a kind of compound arrangement of levers controlled for the new motor ambulance of multiple degrees of freedom described in claim 1, its
Be characterised by, be combined arrangement of levers left and right control stick by horizontal plane groove position push-and-pull, it is possible to achieve automobile it is many
Plant and turn to and drive pattern control, in vertical direction by the lifting of left control stick, it is possible to achieve the active to suspension system
Regulation；The steering of automobile separates driver behavior with driving, braking function by two control sticks in left and right；New motor ambulance wire connects
The automatically controlled form for connecing is easy to electricity consumption Medical Devices to be charged with the connection of multiple degrees of freedom feed energy suspension system and energy recovery braking system, real
Show to have recovered energy and sufficiently effectively utilize.
3. according to a kind of compound arrangement of levers controlled for the new motor ambulance of multiple degrees of freedom described in claim 2, its
It is characterised by, the left control stick of compound arrangement of levers includes five groove positions, and concrete operation step is：When control stick is in centre
During groove position, automobile is the incorgruous independent steering of four-wheel；When control stick is shifted onto left groove position, automobile is pivot stud；Control stick is pushed away
During to right groove position, automobile is turned to for diagonal；When control stick is shifted onto preceding groove position, automobile is front-wheel steer；After control stick is shifted onto
During groove position, automobile enters row pattern, is capable of achieving freedom of the motor ambulance in the crowded road conditions difference steering pattern in middle low speed city
Switching, while improving vehicle mobility also for steering increased it is fault-tolerant, according to control stick in groove position the acceleration that slides and
Stroke, it can be determined that the steering angle size and steering urgency level of automobile.
4. according to a kind of compound arrangement of levers controlled for the new motor ambulance of multiple degrees of freedom described in claim 2, its
It is characterised by, the right control stick of compound arrangement of levers equally includes five groove positions, when control stick is in medial launder position, automobile
It is four-wheel drive；At left groove position, automobile is front-wheel drive to control stick；At right groove position, automobile is rear wheel drive to control stick；Behaviour
At preceding groove position, automobile is acceleration pattern to vertical pole；At pit position, automobile is braking mode to control stick, and multi-mode drives both may be used
Different driving forces are provided in different road conditions, and for motor ambulance increased driving and turn to fault tolerance, when one kind drives mould
When formula fails, other drive patterns can be quickly cut into, while when left control stick breaks down and loses steering capability, right manipulation
Bar four-wheel drive deteriorates to rear wheel drive pattern, and front-wheel is used to turn to ensure the normally travel of automobile.
5. according to a kind of compound arrangement of levers controlled for the new motor ambulance of multiple degrees of freedom described in claim 1, its
It is characterised by, feed energy suspension system matches have multi-degree-of-freedom suspension lifting mechanism, suspension frame lifting mechanism upper and lower surface is plane, two
It is connected at an angle by three groups of mechanical rod members between surface, increasing mechanical shaft number of packages amount according to practical application request can be real
The free degree more than incumbent meaning, when uneven road surface is travelled, multi-degree-of-freedom suspension lifting mechanism passes through lower surface and mechanical shaft to automobile
The multi-direction change of pitch angle of part makes upper surface remain relative level, is obtained without adjusting the intrinsic parameter of suspension preferably
Body gesture, so as to ensure that the motor ambulance for transporting patient has enough comfortablenesses.
6. according to a kind of compound arrangement of levers controlled for the new motor ambulance of multiple degrees of freedom described in claim 5, its
It is characterised by, left control stick is connected with multiple degrees of freedom feed energy suspension system by wire, under different pavement conditions, driver
Left control stick can continuously be lifted in vertical direction or different height are pressed and multi-degree-of-freedom suspension lifting mechanism is adjusted
Section, so as to realize the active step-less adjustment to feed energy suspension system, active regulation is carried out by left control stick to feed energy suspension system
Degree of integration is higher, and the hand of driver need not carry out shifting function, and driver instead of body and directly perceived and hangs with hand
The road feel of frame system feedback, improves the riding comfort of driver.
7. according to a kind of compound arrangement of levers controlled for the new motor ambulance of multiple degrees of freedom described in claim 1, its
It is characterised by, road feel can be fed back to compound arrangement of levers, feedback knot by the steering of motor ambulance, suspension, acceleration and braking
Structure is simple, can be integrated in control stick, improves controllability of the driver to automobile；What left control stick was received is multi-mode
The road feel with multiple degrees of freedom feed energy suspension system feedback is turned to, what right control stick was received is to accelerate and energy recovery braking system feedback
Road feel.
8. according to a kind of compound arrangement of levers controlled for the new motor ambulance of multiple degrees of freedom described in claim 7, its
It is characterised by, 5 miniature linears of arrangement are used to produce feedback moment in the horizontal plane groove position of left control stick, give first aid to vapour
Car carries out learning training to recognize different steering patterns, vapour by neural network algorithm to the current signal that steering motor is exported
Car is turned in situ, diagonal turn to and row pattern under, miniature linear is according to the electricity after neural network algorithm learning training
The torque that stream signal is produced is smaller, and left operating lever operation is light, and driver can realize motor ambulance in the fast of low speed small space
Speed is freely shifted, and automobile speed in the incorgruous independent steering of four-wheel and front-wheel steer is higher, and miniature linear is according to nerve net
The torque that current signal after the training of network Algorithm Learning is produced is larger, and the feedback road feel that driver perceives is clear, improves automobile
Security.
9. according to a kind of compound arrangement of levers controlled for the new motor ambulance of multiple degrees of freedom described in claim 7, its
It is characterised by, the uneven disk of a Mass Distribution is installed in left control stick, and disk passes through bar linkage structure and multi-degree-of-freedom suspension
Lifting mechanism is connected, and when suspension frame lifting mechanism works, driving disk irregularly to rotate shakes left control stick, realizes that energy regenerative is hanged
The road feel feedback of frame system, disk shell is engineering plastics, plays that auxiliary is fixed, protective effect, to manipulating when reducing its work
The interference of bar inside wire harness etc..
10. according to a kind of compound arrangement of levers controlled for the new motor ambulance of multiple degrees of freedom described in claim 7, its
It is characterised by, right control stick arranges acceleration transducer and reaction force switch in the longitudinal degress of feedom, in reaction force switch
Containing an accumulator, driver when operating right control stick to be accelerated or braked, to right control stick slide by acceleration transducer
Dynamic acceleration is measured, and reaction force switch slides acceleration responsive and sets a threshold value to control stick, when acceleration or braking
When right control stick when sliding acceleration and being less than given threshold, illustrate automobile for common driving cycle, reaction force switch will suffered by
Power is stored in accumulator, and reaction force switch is not operated；When right control stick slides acceleration is more than given threshold, say
Bright automobile is in urgent acceleration or brake condition, and accumulator exoergic makes reaction force switch start-up operation, slided according to right control stick
The size of dynamic acceleration applies different reaction forces to right control stick, has both improved common acceleration or damped condition driver behaviour
Make the portability of right control stick, urgent acceleration or damped condition are realized again to feeding back the perception of road feel；Accumulator pair adds simultaneously
The recovery of road feel also achieves energy regenerative when speed, braking, can be used for the charging of electricity consumption Medical Devices.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710205100.1A CN106882255B (en) | 2017-03-31 | 2017-03-31 | Composite operating rod device for controlling novel ambulance with multiple degrees of freedom |
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| CN201710205100.1A CN106882255B (en) | 2017-03-31 | 2017-03-31 | Composite operating rod device for controlling novel ambulance with multiple degrees of freedom |
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| CN106882255A true CN106882255A (en) | 2017-06-23 |
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| Publication number | Publication date |
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| CN106882255B (en) | 2022-11-08 |
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