CN107389361A - Drive mechanism and target detection dolly - Google Patents
Drive mechanism and target detection dolly Download PDFInfo
- Publication number
- CN107389361A CN107389361A CN201710733314.6A CN201710733314A CN107389361A CN 107389361 A CN107389361 A CN 107389361A CN 201710733314 A CN201710733314 A CN 201710733314A CN 107389361 A CN107389361 A CN 107389361A
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- drive mechanism
- driving wheel
- pulley
- target detection
- motor
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- 238000001514 detection method Methods 0.000 title claims abstract description 38
- 238000012360 testing method Methods 0.000 claims abstract description 21
- 230000005540 biological transmission Effects 0.000 claims description 14
- 238000011056 performance test Methods 0.000 abstract description 3
- 230000001360 synchronised effect Effects 0.000 description 27
- 230000003068 static effect Effects 0.000 description 3
- 230000006870 function Effects 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 230000000979 retarding effect Effects 0.000 description 1
- 239000007858 starting material Substances 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
- G01M17/0078—Shock-testing of vehicles
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)
Abstract
The invention discloses a kind of drive mechanism and target detection dolly, the drive mechanism of the present invention includes motor, driving wheel and control unit, wherein, motor drives driving wheel to rotate at a high speed by first pulley drive mechanism, and motor drives driving wheel low speed rotation by the second band actuation and reducing gear；Described control unit is according to test it needs to be determined that the driving wheel low speed rotation or high speed rotate, to control the driving wheel to follow the first pulley drive mechanism or the second band actuation to rotate.The target detection dolly of the present invention includes trolley and the above-mentioned drive mechanism being arranged in trolley.The drive mechanism and target detection dolly of the present invention, solves in the prior art the problem of drive mechanism can not provide larger moment of torsion or higher speed simultaneously, can not meet pilotless automobile performance test target detection dolly demand.
Description
Technical field
The invention belongs to technical field of vehicle detection, and in particular to a kind of drive mechanism and target detection dolly.
Background technology
During the function of pilotless automobile and performance test, due to the collision performance for pilotless automobile
Test in test, it is necessary to can have the higher speed of service.But target detection dolly, from during static startup, target is surveyed
Examination dolly needs to overcome stiction to be converted into motion by static, is converted into rolling with the friction on ground when moving of car and rubs
Wipe, from rational mechanics, stiction is more than rolling friction, due to the target detection dolly weight reasons of itself, overcomes quiet
Friction needs to provide larger moment of torsion, therefore, then needs to run and need at a lower rate when starting target detection dolly
Larger moment of torsion.Therefore, the test of the collision performance of pilotless automobile not only needs the drive mechanism energy of target detection dolly
Enough provide low speed, at a high speed two kinds of running statuses, it is also necessary to which drive mechanism provides larger driving force.
Due to the limitation of test condition and each side factor, target detection dolly is that lithium battery supplies direct current, so driving
Motor can select servomotor.And the operating of servomotor will drive by servo-driver, in driving load, angular speed
It is bigger, it is necessary to moment of torsion it is bigger, servomotor be based on load needs and high torque export.AC servo motor is general
Exported for constant moment of force, i.e., within its rated speed (generally 2000RPM or 3000RPM), nominal torque can be exported, in volume
Determine more than rotating speed to be constant power output.But AC servo motor premise, no more than peak torque, otherwise servo can alarm.
Because existing market permanent-magnet alternating current servo motor driver is by current limit, cause servomotor power universal
It is smaller, so output torque is general also smaller.Therefore, servo drive motor can not meet simultaneously not only due to the limitation of speed
The demand of two kinds of running statuses of low speed and high speed is provided for target detection dolly, and due to the limitation of its moment of torsion, also can not
Realize the startup to target detection dolly and accelerate to provide the demand of high torque.
In summary, it is simultaneously target detection dolly that drive mechanism of the prior art can not be realized only with servomotor
High speed, two kinds of speed of low speed and larger moment of torsion are provided, the function of pilotless automobile and the mesh of performance test can not be met
Mark the demand of test car.
The content of the invention
The present invention can not be realized simultaneously small for target detection based on drive mechanism of the prior art only with servomotor
Car provide at a high speed, the technical problem of two kinds of speed of low speed and larger moment of torsion, and it is an object of the present invention to provide a kind of drive mechanism, including
Motor, driving wheel and control unit, wherein,
The motor is connected with first pulley drive mechanism and the second band actuation respectively, the first pulley
Drive mechanism is connected with the driving wheel, and the second band actuation is connected by reducing gear with the driving wheel；Institute
State motor drives the driving wheel to rotate at a high speed by first pulley drive mechanism, and the motor passes through the second belt wheel
Drive mechanism and reducing gear drive the driving wheel low speed rotation；
Described control unit is according to test it needs to be determined that the driving wheel low speed rotation or high speed rotate, with described in control
Driving wheel follows the first pulley drive mechanism or the second band actuation to rotate.
The drive mechanism further also includes frame, the first pulley drive mechanism, the second band wheel drive
Mechanism and the reducing gear are both secured in the frame, the first pulley drive mechanism by the first electromagnetic clutch with
The driving wheel connection, the second band actuation are connected by the second electromagnetic clutch with the reducing gear.
Described control unit is further advanced by control first electromagnetic clutch and second electromagnetic clutch
No engagement, the driving wheel is controlled to follow the first pulley drive mechanism or the second band actuation to rotate.
The driving wheel be further advanced by live axle respectively with the first pulley drive mechanism and the reductor
Structure connects.
The drive mechanism further also includes power transmission shaft, and the motor shaft of the motor is driven by gear mechanism
The power transmission shaft rotation, one end of the power transmission shaft connect the first pulley drive mechanism, and the other end connects second band
Actuation.
The present invention also aims to provide a kind of target detection dolly, including trolley and it is arranged in trolley
Above-mentioned drive mechanism.
Further, the drive mechanism is fixedly connected with the trolley by the frame of the drive mechanism.
The positive effect of the present invention is：The present invention is by control unit according to test it needs to be determined that driving wheel low speed
Rotation rotates at a high speed, and controls driving wheel to follow first pulley drive mechanism or the second band actuation to rotate, and makes drive
Motivation structure and target detection dolly can meet high-speed requirement in the case of only with servomotor, and and can provides larger torsion
Square.In use, can be by being driven to first pulley during target detection dolly drives safely in test automatic driving car
Mechanism and second with the switching between actuation realize unmanned test car at a high speed, the switchings of low speed two states,
So as to meet the testing requirement of target detection dolly.Because the drive mechanism and target detection dolly of the present invention can be by simple
Mechanical structure meet test driving demand, therefore, testing cost can be reduced and reduce operation difficulty.
Brief description of the drawings
Fig. 1 is the structural representation of drive mechanism of the present invention；
Fig. 2 is the top view of drive mechanism of the present invention；
Fig. 3 is the structural representation of the first pulley drive mechanism of drive mechanism of the present invention.
Embodiment
As shown in Figure 1-2, a kind of drive mechanism provided in an embodiment of the present invention, including motor 1, driving wheel 10 and control
Unit processed.Wherein, motor 1 is connected with driving wheel 10 by first pulley drive mechanism 5 and drives driving wheel 10 to revolve at a high speed
Turn, motor 1 is connected with driving wheel 10 by the second band actuation 6 and drives the low speed rotation of driving wheel 10.Control is single
Member is according to test it needs to be determined that the low speed rotation of driving wheel 10 or high speed rotate, to control driving wheel 10 to follow first pulley to drive
The band actuation 6 of mechanism 5 or second rotates.
Now, drive mechanism can also include reducing gear 9, make the second band actuation 6 by reducing gear 9 with driving
Driving wheel 10 connects, wherein, reducing gear 9, which plays, reduces the rotary speed for being transferred to driving wheel 10 with actuation 6 by second
Effect.So as to which in the case where the rotating speed of motor 1 is certain, the belt wheel of first pulley drive mechanism 5 and second can be passed through
Drive mechanism 6 exports different rotary speeies to driving wheel 10, so as to drive driving wheel 10 to rotate at a high speed or low speed rotation.Such as
In drive mechanism shown in Fig. 1-2, reducing gear 9 is the machine that reduces starter of the binary shafts, and certain reducing gear can also be the combination of gear, only
If it can play a part of reducing the rotary speed for being transferred to driving wheel 10 with actuation 6 by second.
In embodiments of the present invention, drive mechanism also includes frame 11, wherein, first pulley drive mechanism 5, the second belt wheel
Drive mechanism 6 and the structure of reductor 9 are both secured in frame.As described in figures 1-2, first pulley drive mechanism 5 passes through the first electricity
Magnet clutch 7 is connected with driving wheel 10, so as to which first pulley drive mechanism 5 can drive driving wheel 10 to rotate at a high speed.Second band
Actuation 6 is connected by the second electromagnetic clutch 8 with reducing gear 9, then is connected by reducing gear 9 with driving wheel 10,
So as to which the second band actuation 6 can drive the low speed rotation of driving wheel 10.Driving wheel 10 can by live axle respectively with
First pulley drive mechanism 5 and reducing gear 9 connect.Therefore, control unit can be by controlling the first electromagnetic clutch 7 and the
Whether two electromagnetic clutch 8 engage, to control driving wheel 10 to follow the band actuation 6 of first pulley drive mechanism 5 or second
Rotation.
In embodiments of the present invention, drive mechanism also includes power transmission shaft 4, and the motor shaft of motor 1 passes through gear mechanism
Power transmission shaft 4 is driven to rotate.One end connection first pulley drive mechanism 5 of power transmission shaft 4, other end connection the second band actuation
6, and the both ends of power transmission shaft 4 are stretched out in the band actuation 6 of first pulley drive mechanism 5 and second respectively, it is final rotatable
Ground is fixed in frame 11.
In embodiments of the present invention, as shown in Figure 1-2, gear mechanism includes the intermeshing tooth of first gear 2 and second
Wheel 3, first gear 2 is fixed on the motor shaft of motor 1, and is coaxially disposed with motor shaft, and second gear 3 is fixed on biography
On moving axis 4, and it is coaxially disposed with power transmission shaft 4.Wherein, the number of teeth of the number of teeth of first gear 2 and second gear 3 can be according to reality
Need to be designed, as long as demand when disclosure satisfy that test.
In embodiments of the present invention, the structure of first pulley drive mechanism 5 can be identical with the second band actuation 6,
By taking first pulley drive mechanism 5 as an example, as shown in figure 3, first pulley drive mechanism 5 is same including the first synchronous pulley 13, second
Walk belt wheel 14, timing belt 12 and tensioning wheel 15.Timing belt 12 is sheathed on the first synchronous pulley 13 and the second synchronous pulley 14, and
And it is tensioned by tensioning wheel 15.The diameter of first synchronous pulley 14 could be arranged to be less than the second synchronous pulley 14, and first
Synchronous pulley 13 is coaxial with second gear 3 and is sheathed in rotary shaft 4, and the second synchronous pulley 14 is connected to the second electromagnetic clutch
On the input shaft of device 8.
Frame 11 makes motor 1, power transmission shaft 4, first gear 2, second gear 3, first pulley drive mechanism 5, second
Band actuation 6, reducing gear 9 and driving wheel 10 form an overall structure.Control unit can be arranged in frame 11,
Other positions can also be arranged at, such as control unit can be a module of the controller of target detection dolly.
In embodiments of the present invention, motor 1 can be servomotor, and rotational power is provided for drive mechanism, use
Control module control motor 1 drives the method for the low speed of driving wheel 10 or high-speed cruising can be：Control unit passes through control
Make the first electromagnetic clutch 7 and whether the second electromagnetic clutch 8 engages, control driving wheel 10 follows first pulley drive mechanism 5
Or second band actuation 6 rotate.
Another embodiment of the present invention provides a kind of target detection dolly, including trolley and is arranged in trolley
Above-mentioned drive mechanism.In order to drive mechanism be allow higher to be fixed in trolley, drive mechanism can lead to
Frame 11 is crossed to be fixedly connected with trolley.
Drive mechanism provided by the invention and the driving principle of target detection dolly are：
During original state (testing the inactive state before starting), two motors do not rotate, and two electromagnetic clutch are equal
In released state.
First control motor 1 to drive power transmission shaft 4 to rotate by gear mechanism with certain rotational speed, motor 1, pass
Moving axis 4 drives the band synchronous axial system of actuation 6 of first pulley drive mechanism 5 and second.
When target detection dolly by it is static be converted into motion (prepare start) when, the second electromagnetic clutch 8 of control engages,
So as to drive reducing gear 9 to operate, so as to drive driving wheel 10 to rotate, there is provided it is quiet that larger moment of torsion overcomes target detection dolly
Frictional force changes its motion state, low speed operation.
When the weight increase of target detection dolly, moment of torsion needed for driving wheel 10 is caused to be more than the moment of torsion that motor 1 exports
When, it by increasing the second gearratio with actuation 6, can either increase the speed reducing ratio of reducing gear 9 or increase simultaneously
The speed reducing ratio of big second gearratio with actuation 6 and reducing gear 9, so as to increase the moment of torsion of driving wheel 10, so may be used
To play the torsional performance of servomotor to greatest extent.
Because the calculation formula of the gearratio with actuation is as follows：
Wherein, i is the gearratio with actuation；ω1For the angular speed of the first synchronous pulley 13；ω2It is synchronous for second
The angular speed of belt wheel 14；d1For the reference diameter of the first synchronous pulley 13；d2For the reference diameter of the second synchronous pulley 14；
z1For the number of teeth of the first synchronous pulley 13；z2For the number of teeth of the second synchronous pulley 14；T1For the moment of torsion of the first synchronous pulley 13；T2For
The moment of torsion of second synchronous pulley 14.
Also, the speed reducing ratio of reducing gear 9 and the relational expression of its input shaft, output shaft are as follows：
Wherein, i is kept to the speed reducing ratio of reducing gear 9；ωSubtract 1For input shaft (the i.e. electromagnetic clutch 8 of reducing gear 9 and second
The shaft part of connection) angular speed；ωSubtract 2For output shaft (shaft part that i.e. reducing gear 9 is connected with the first electromagnetic clutch 7) angle speed
Degree；TSubtract 1For the moment of torsion of input shaft；TSubtract 2For the moment of torsion of output shaft.
Therefore, to increase the moment of torsion of driving wheel 10, the torque T of the first synchronous pulley 13 can be increased2, that is, need increase
The two gearratio i with actuation 6, as long as it is synchronous with the synchronous pulley in actuation 6, increase second to change second
The number of teeth z of belt wheel 132Or reduce the number of teeth z of the first synchronous pulley 131Or both increase the number of teeth z of the second synchronous pulley 132,
Reduce the number of teeth z of the first synchronous pulley 13 again1.
On the other hand, to increase the moment of torsion of driving wheel 10, the torque T of the output shaft of reducing gear 9 can also be increasedSubtract 2, i.e.,
Increase the speed reducing ratio i of reducing gear 9Subtract, change big retarding than reducing gear 9.Or the second band can also be increased simultaneously
The gearratio of actuation 6 and the speed reducing ratio of reducing gear 9.
When target detection dolly needs high-speed cruising, now driving wheel 10 needs to run at high speed, and control motor 1 is high
Speed operating, and the second electromagnetic clutch 8 is separated, the first electromagnetic clutch 7 engages, so as to drive driving wheel 10 to transport at a high speed
Turn.
If desired driving wheel 10 is reached higher speed, can by reducing the gearratio of first pulley drive mechanism 5,
So as to improve the rotating speed of driving wheel 10, the speed ability of servomotor can be so played to greatest extent.
Because the calculating of the calculation formula of the above-mentioned gearratio with actuation and the speed reducing ratio of reducing gear 9 is public
Formula.The rotating speed of driving wheel 10 is improved, that is, increases the rotational speed omega of the second synchronous pulley 142, that is, need to reduce first pulley transmission
The gearratio i of mechanism 5, you can to reduce the number of teeth z of the second synchronous pulley 142, increase the second synchronous pulley 13 number of teeth z1, or
Both the number of teeth z of the second synchronous pulley 14 had been reduced2Increase the number of teeth z of the first synchronous pulley 13 again1。
In summary, drive mechanism provided by the invention and target detection dolly cross in test automatic driving car security row
Cheng Zhong, when target detection dolly starts, by the second band actuation driving wheel can be driven to slowly run, there is provided larger
Moment of torsion, target detection dolly is overcome stiction, it is low-speed run state to change its inactive state, so as to complete low speed fortune
Row test.When target detection dolly needs high-speed cruising, first pulley drive mechanism drives driving wheel high-speed rotation, so as to complete
Tested into high-speed cruising.Also, drive mechanism provided by the invention and target detection dolly, it can run in low speed and transport at a high speed
Free switching in the state of row.In addition, drive mechanism provided by the invention and target detection dolly can be according to test cars
Structure and performance, by changing the speed reducing ratio of the gearratio with actuation or reducing gear, so as to adapt to friction speed
And the target detection dolly of driving force, its configuration flexibility and interchangeability are stronger.And drive mechanism provided by the invention and mesh
Test car is marked due to driving demand can be met by simple mechanical structure, its cost is relatively low, good economy performance.
Claims (7)
- A kind of 1. drive mechanism, it is characterised in that including motor, driving wheel and control unit, wherein,The motor is connected with first pulley drive mechanism and the second band actuation respectively, the first pulley driving Mechanism is connected with the driving wheel, and the second band actuation is connected by reducing gear with the driving wheel；The drive Dynamic motor drives the driving wheel to rotate at a high speed by first pulley drive mechanism, and the motor passes through the second band wheel drive Mechanism and reducing gear drive the driving wheel low speed rotation；Described control unit is according to test it needs to be determined that the driving wheel low speed rotation or high speed rotate, to control the driving Wheel follows the first pulley drive mechanism or the second band actuation to rotate.
- 2. drive mechanism as claimed in claim 1, it is characterised in that：Also include frame, the first pulley drive mechanism, institute State the second band actuation and the reducing gear is both secured in the frame, the first pulley drive mechanism passes through the One electromagnetic clutch is connected with the driving wheel, and the second band actuation passes through the second electromagnetic clutch and the deceleration Mechanism connects.
- 3. drive mechanism as claimed in claim 2, it is characterised in that：Described control unit by control first electromagnetism from Whether clutch and second electromagnetic clutch engage, and control the driving wheel to follow the first pulley drive mechanism or described Second band actuation rotates.
- 4. drive mechanism as claimed in claim 1, it is characterised in that：The driving wheel is by live axle respectively with described One band actuation connects with the reducing gear.
- 5. drive mechanism as claimed in claim 1, it is characterised in that：Also include power transmission shaft, the motor shaft of the motor The power transmission shaft is driven to rotate by gear mechanism, one end of the power transmission shaft connects the first pulley drive mechanism, another End connection the second band actuation.
- A kind of 6. target detection dolly, it is characterised in that including trolley and be arranged in trolley such as claim Drive mechanism any one of 1-5.
- 7. target detection dolly as claimed in claim 6, it is characterised in that：The drive mechanism passes through with the trolley The frame of the drive mechanism is fixedly connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710733314.6A CN107389361A (en) | 2017-08-24 | 2017-08-24 | Drive mechanism and target detection dolly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710733314.6A CN107389361A (en) | 2017-08-24 | 2017-08-24 | Drive mechanism and target detection dolly |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107389361A true CN107389361A (en) | 2017-11-24 |
Family
ID=60345645
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710733314.6A Pending CN107389361A (en) | 2017-08-24 | 2017-08-24 | Drive mechanism and target detection dolly |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107389361A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111380699A (en) * | 2020-03-31 | 2020-07-07 | 重庆广播电视大学重庆工商职业学院 | Unmanned test platform car |
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| CN202256385U (en) * | 2011-09-30 | 2012-05-30 | 万向钱潮（上海）汽车系统有限公司 | Rotation mechanism |
| CN104345736A (en) * | 2014-10-29 | 2015-02-11 | 济南优柏电子科技有限公司 | AGV (automatic guided vehicle) driving unit with starting device |
| CN207263442U (en) * | 2017-08-24 | 2018-04-20 | 合肥中导机器人科技有限公司 | Driving mechanism and target detection trolley |
-
2017
- 2017-08-24 CN CN201710733314.6A patent/CN107389361A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11180173A (en) * | 1997-12-19 | 1999-07-06 | Mitsubishi Motors Corp | Driving unit for hybrid electric vehicle |
| CN101204925A (en) * | 2006-12-19 | 2008-06-25 | 比亚迪股份有限公司 | Electric motor vehicle driving system |
| CN101204926A (en) * | 2006-12-19 | 2008-06-25 | 比亚迪股份有限公司 | Electric motor vehicle driving system |
| CN102343799A (en) * | 2011-07-19 | 2012-02-08 | 东风汽车公司 | Double-motor driving actuating device for hybrid power vehicle |
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| CN202256385U (en) * | 2011-09-30 | 2012-05-30 | 万向钱潮（上海）汽车系统有限公司 | Rotation mechanism |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111380699A (en) * | 2020-03-31 | 2020-07-07 | 重庆广播电视大学重庆工商职业学院 | Unmanned test platform car |
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Application publication date: 20171124 |