CN110450849A - A kind of transfer, steering system and automatic Pilot vehicle - Google Patents

Abstract

The present invention relates to a kind of transfers, include: a bracket；One first input link is rotatably supported on bracket with the relatively described bracket, comprising one along the first steering portion that the first input shaft of first direction extension and one can be rotated synchronously with the first input shaft；And one first output link, the second steering portion and one and second the first output shaft that can rotate synchronously of steering portion comprising being engaged in the first steering portion；The transfer includes second input link being supported on bracket in a manner of it can rotate relative to the bracket, and second input link includes second input shaft for being connected in first output shaft；First output shaft is configured to export the rotation of first input shaft or second input shaft from second direction.The present invention separately provides a kind of steering system and automatic Pilot vehicle.

Description

A kind of transfer, steering system and automatic Pilot vehicle

Technical field

The present invention relates to the technical fields of Vehicular automatic driving steering system, and in particular to a kind of transfer and comprising There is the automatic Pilot vehicle of the steering system.

Background technique

In passenger car field, the steering of vehicle usually uses the steering of steering wheel control steering shaft.With sensor, electricity The progress of sub- device and computer and its system, vehicle can replace the mode of manual control steering wheel with automated driving system Control the steering of steering shaft.Automated driving system in actual use, be manual control steering wheel and two kinds of automatic Pilot It is switched between mode.

Currently, existing steering gear assembly can only be satisfied with an input shaft and an output shaft, can not connect simultaneously Manned steering input mechanism and unmanned steering input mechanism.It is switched between manned and unmanned When, it needs to switch between two steering gear assemblies.The mounting means wastes cost, and need to occupy in vehicle compared with Big space.

Summary of the invention

The object of the present invention is to provide a kind of can satisfy to turn to the transfer exported from an output shaft for two.

In a first aspect, the present invention provides a kind of transfer, include: a bracket；One first input link, with relatively described Bracket is rotatably supported on bracket, can be with first along the first input shaft of first direction extension and one comprising one The first steering portion that input shaft rotates synchronously；And one first output link, comprising be engaged in the first steering portion the second steering portion, And one and second the first output shaft that can rotate synchronously of steering portion；The transfer includes one with the relatively described bracket energy The mode enough rotated is supported in the second input link on bracket, and second input link includes one to be connected in described first Second input shaft of output shaft；First output shaft is configured to first input shaft or second input shaft Rotation is exported from second direction.

Preferably, second input link is supported on bracket by a bearing block；The transfer includes One driving member, first driving member includes: third steering portion can be rotated synchronously with second input shaft；And the Four steering portions are engaged in the third steering portion and are able to drive the first output shaft synchronous rotation.

Preferably, the bracket includes that a pedestal and one is supported in the bottom in such a way that the relatively described pedestal can be dismantled Shell on seat, the shell have the containing cavities for being equipped with the first steering portion, the second steering portion and the first driving member.

Preferably, the bracket includes that a pedestal and one is supported in the bottom in such a way that the relatively described pedestal can be dismantled Shell on seat, the shell have the containing cavities for being equipped with the first steering portion and the second steering portion.

Preferably, the extension directional structure vectorical structure of second input shaft is second direction.

Second aspect, the present invention separately provide a kind of steering system, comprising any transfer among the above, are connected in First driving mechanism of first input shaft, the second driving mechanism for being connected in the second input shaft and to be connected in first defeated The steering mechanism of shaft；First driving mechanism and second driving mechanism are constructed to be permeable to operatively to drive first defeated Enter axis to rotate, a side of first driving mechanism and second driving mechanism is electric device.

Preferably, second driving mechanism is connected in second input shaft by one second driving member, described Two driving members include: the first driving member, can be connected in rotating synchronously with the output end of second driving mechanism described Second driving mechanism；Second driving member can be connected in second input shaft with second input shaft with rotating synchronously；And Third driving member, for first driving member and the second driving member of linking；Along the extension direction of the second input shaft, described first There is preset spacing between driving member and second driving member；Wherein, second driving mechanism is electric device.

Preferably, the steering mechanism for link the rotation bridge on vehicle and drive rotation bridge rotation, it is described first output Axis is by the cross universal coupling member linkage steering mechanism, and the cross universal coupling member includes: one first yoke, It is connected in first output shaft；One second yoke, is connected in the steering mechanism；And a universal yoke, for linking State the first yoke and second yoke；First yoke includes to have circumferentially spaced configuration and to be socketed on described first defeated The first connecting portion of a plurality of gear teeth of the periphery of shaft.

Preferably, the first connecting portion has the fluting to extend along the first output axis direction, the gear teeth are configured to It is enough to clamp first output shaft when the fluting reduces along the circumferential spacing of the first output shaft.

Preferably, the steering mechanism is configured to longer in a second direction with second driving mechanism.

The third aspect, the present invention separately provide a kind of automatic Pilot vehicle, comprising vehicle body and are configured on vehicle body The steering system as described in any among the above, the transfer, the second driving mechanism and the steering mechanism are solid respectively Surely it is supported on the vehicle body.

By using above-mentioned technical proposal, the present invention can obtain following technical effect:

A kind of transfer provided by the invention has the first input link, the second input link and first defeated thereon Component out, the second output link, which can satisfy, exports the rotation of the first input link and the second input link.

A kind of steering system provided by the invention, the second driving mechanism thereon include one for the second input structure that links Second driving member of part, second driving member can buffer electric device starting work when rotation impact and electric device The shake of itself, so that it is more smooth and soft to be transferred to the rotation of the second input shaft, the case where not having moment and overload.

A kind of steering system provided by the invention, steering mechanism thereon pass through cross universal coupling member linkage first Output shaft, wherein the first axle fork on cross universal coupling member for being fixedly connected with the first output shaft has first connecting portion, The inner circumferential of first connecting portion has a plurality of gear teeth of circumferentially spaced configuration and opening along the first output shaft axial extension Slot, under external force, the spacing slotted on circumferentially can reduce, so that the gear teeth in first connecting portion can clamp the first output Axis is stablized to reach the first output shaft and export to rotation precision height, the turning efficiency of steering mechanism, and maintenance easy to disassemble Purpose, and the case where having slippage when driving the rotation of the first yoke using the first output shaft when other connection types can be prevented.

Detailed description of the invention

Fig. 1 depicts the structural schematic diagram of transfer of the invention；

Fig. 2 depicts the structural schematic diagram of the first input link and the first output link of the invention；

Fig. 3 depicts the structural schematic diagram of the transfer under the other visual angles of the present invention；

Fig. 4 depicts the structural schematic diagram of the second input shaft of the invention；

Fig. 5 depicts the structural schematic diagram of steering system of the invention；

Fig. 6 depicts the structural schematic diagram of transfer of the invention, the second driving mechanism and steering mechanism；

Fig. 7 depicts the structural schematic diagram of the second driving member of the invention；

Fig. 8 depicts the structural schematic diagram of the second yoke of the invention.

Attached drawing mark

1- transfer；The first input link of 11-；The first input shaft of 111-；The first steering portion 112-；12- first is exported Component；The first output shaft of 121-；The second steering portion 122-；The 4th steering portion 123-；The second input link of 13-；131- second is defeated Enter axis；The first mounting portion of 131A-；The first limiting section of 131B-；The second mounting portion of 131C-；131D- third mounting portion；131E- Four mounting portions；132- third steering portion；133- bearing block；134- first bearing component；14- bracket；141- shell；142- first Pedestal；The first driving mechanism of 2-；21- steering wheel；22- steering hub column；The second driving mechanism of 3-；The second driving member of 31-；311- First driving member；The second driving member of 312-；313- third driving member；32- electric device；4- steering drive axle；5- electronic-controlled power steering Device；6- cross universal coupling member；The first yoke of 61-；611- first connecting portion；611A- fluting；611B- fixation hole.

Specific embodiment

To keep the purposes, technical schemes and advantages of embodiment of the present invention clearer, implement below in conjunction with the present invention The technical solution in embodiment of the present invention is clearly and completely described in attached drawing in mode, it is clear that described reality The mode of applying is some embodiments of the invention, rather than whole embodiments.Based on the embodiment in the present invention, ability Domain those of ordinary skill every other embodiment obtained without creative efforts, belongs to the present invention The range of protection.Therefore, the detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit below and is wanted The scope of the present invention of protection is sought, but is merely representative of selected embodiment of the invention.

In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", " length ", " width ", " thickness ", "upper", "lower", "front", "rear", "left", "right", " upper end ", " lower end ", " upper section ", " lower section ", " upside ", " under The orientation of instructions such as side ", " centre ", "vertical", "horizontal", "top", "bottom", "inner", "outside", " clockwise ", " counterclockwise " or Positional relationship is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of description of the present invention and simplification of the description, without It is that the equipment of indication or suggestion meaning or element must have a particular orientation, be constructed and operated in a specific orientation, therefore not It can be interpreted as limitation of the present invention.

It is described in detail now in conjunction with structure and function of the Fig. 1 to Fig. 8 to the scheme of the application.

One embodiment of the invention provides a kind of transfer 1, with reference to Fig. 1, Fig. 2 and Fig. 3, it includes have a bracket 14, One first input link 11, one first output link 12 and one second input link 13.First input link 11 is fixedly mounted In on bracket 14, and the first input link 11 can be rotated in the case where being driven relative to bracket 14.First input mechanism packet Containing the first input shaft 111 and the first steering portion 112 to extend along first direction.It first steering portion 112 can be in the first input With its synchronous rotation when axis 111 rotates.First output link, 12 component is fixedly installed on bracket 14, the first output link 12 packet Can be rotated synchronously containing the second steering portion 122 and one and the second steering portion 122 for being engaged in the first steering portion 112 first Output shaft 121.Wherein, the first steering portion 112 can drive the second steering portion 122 to rotate in rotation, and then drive first defeated Shaft 121 is rotated relative to bracket 14.Second input shaft 131 of the second input mechanism on transfer 1 is connected in the first output Axis 121, when 131 driven rotation of the second input shaft, can drive the first output shaft 121 to rotate.First output shaft 121 is along Two directions are extended, and the rotation of the first input shaft 111 is exported from second direction.In the present embodiment, transfer 1 can incite somebody to action The rotation of first input mechanism and the rotation of the second input link 13 are exported from the first output shaft 121, that is, the first output shaft 121 The rotation of first input link 11 and the rotation of a side of the second input link 13 can be exported from second direction.

In one embodiment of the invention, the first input shaft 111 is rotatably supported on bracket 14 by a bearing assembly, First steering portion 112 is the gear member that periphery has the gear teeth, wherein the first steering portion 112 is socketed on the outer of the first input shaft 111 Week.First output shaft 121 is rotatably supported on bracket 14 by a bearing assembly, and the second steering portion 122 has for periphery The gear member of the gear teeth, wherein the second steering portion 122 is socketed on the periphery of the first output shaft 121.Wherein, first direction and second Corner dimension between direction can be 0 °~180 °, for example, it can be appointing in 0 °, 30 °, 60 °, 90 °, 120 ° or 150 ° It is a one by one.That is, between the first driving section and the second driving section can engaged transmission between spur gear, can also be bevel gear Between engaged transmission.It is understood that in other embodiments, the first steering portion 112 and the first input shaft 111 can be one Body formed, the second steering portion 122 can be integrally formed with the first output shaft 121.

In one embodiment of the invention, the second input link 13 is supported on bracket 14 by a bearing block 133.Turn to dress Setting 1 includes the first driving member for link the second input link 13 and the first output link 12.First driving member packet Contain third steering portion 132 and the 4th steering portion 123.Third steering portion 132 is socketed on 131 periphery of the second input shaft and can be with It is rotated synchronously, and the 4th steering portion 123 is engaged in third steering portion 132 to drive the first output shaft 121 to rotate with it.That is, this The first output shaft 121 in invention can be rotated under the driving of the first input shaft 111 or the second input shaft 131.

In one embodiment of the invention, in conjunction with reference Fig. 3 and Fig. 4, bearing block 133 includes a second base and one first Bearing assembly 134, along the extension direction of the second input shaft 131, the outer ring and third steering portion 132 of the first bearing component 134 Clearance fit, inner ring can be connected to third steering portion 132, or, inner ring can be connected to the second input shaft 131.In On second input shaft 131 far from connection first bearing component 134 one end be configured with fastener, cooperation the second input shaft 131, First bearing component 134 is fixed by third steering portion 132, it will be understood that, third steering portion 132 is detachably arranged in second On input shaft 131.In the present embodiment, the second input shaft 131 sequentially includes the first mounting portion 131A, first along its extension direction Limiting section 131B, the second mounting portion 131C, third mounting portion 131D and the 4th mounting portion 131E.First mounting portion 131A is used for Couple the second driving mechanism 3 (being described in detail hereinafter), the second mounting portion 131C is for installing first bearing component 134 and by first Bearing assembly 134 is supported in second base, and third mounting portion 131D is for installing third steering portion 132, the 4th mounting portion 131E is for installing fastener.Wherein, the radial values of the first limiting section 131B are greater than the radial values of the second mounting portion 131C, to match It closes third steering portion 132 and pushes against or limit first bearing component 134 along axial.The radial values of third mounting portion 131D are less than second Mounting portion 131C, to push against limit third steering portion 132 along axial.Fastener can install third steering portion 132 to second Ora terminalis between portion 131C and third mounting portion 131D compresses.

In one embodiment of the invention, in conjunction with reference Fig. 1, Fig. 2 and Fig. 3, bracket 14 includes a first base 142 and one The shell 141 being supported in first base 142 in such a way that opposite first base 142 can be dismantled, shell 141 have a storage Chamber is equipped with the first steering portion 112, the second steering portion 122, the first input shaft 111 of part and part in the containing cavities The first output shaft 121.The bearing assembly for being used to support the first input shaft 111 and the second input shaft 131 is fixedly supported to shell On 141.Wherein, one end on the first input shaft 111 far from the first steering portion 112 passes through shell 141 and is placed in its exterior space, One end on first output shaft 121 far from the second steering portion 122 passes through shell 141 and is placed in its exterior space.Preferably, in shell Correspond to the position that the first steering portion 112 and the second steering portion 122 are engaged on body 141, forced filling oil cup is configured with, for injecting profit Lubrication prescription.It is understood that in other embodiments, containing cavities can accommodate the first steering portion 112, the second steering portion 122, Three steering portions 132, the 4th steering portion 123, the first input shaft 111 of part, the second input shaft 131 of part and partial Second input shaft 131, on shell 141 correspond to position that the first steering portion 112 and the second steering portion 122 are meshed and The position that third steering portion 132 and the 4th steering portion 123 are meshed is configured with forced filling oil cup, for injecting lubricant.

In one embodiment of the invention, it is preferable that the extension directional structure vectorical structure of the second input shaft 131 is second direction, that is, is made It obtains the second input shaft 131 and is parallel to the first input shaft 111.

One embodiment of the invention provides a kind of steering system, and in conjunction with reference Fig. 5 and Fig. 6, it includes have above-mentioned steering Device 1 and one first driving mechanism 2, the second driving mechanism 3 and steering mechanism.It is defeated that first driving mechanism 2 is connected in first Enter axis 111, the second driving mechanism 3 is connected in the second input shaft 131, and steering mechanism is connected in the first output shaft 121.Wherein, turn It include the steering drive axle 4 and power steering stgear 5 coupled for the steeraxle with automobile to mechanism, that is, steering mechanism can incite somebody to action The rotation of first output end is transferred on steeraxle to drive steeraxle to rotate.In the present embodiment, the first driving mechanism 2 is connection It is connected to the steering hub column 22 of the first input shaft 111 and the steering wheel 21 of the first input shaft 111, the second driving machine can be coupled Structure 3 includes electric device 32.For example, electric device 32 can be servo motor.That is, first input shaft 111 of the present embodiment It artificially can operatively drive lower rotation and further steering mechanism driven to work, alternatively, the first of the present embodiment is defeated Enter axis 111 the second electrical driving mechanism 3 operatively drive it is lower rotation and further steering mechanism is driven to work.

In one embodiment of the invention, in conjunction with reference Fig. 6 and Fig. 7, the second driving mechanism 3 includes one second driving member 31, the second driving member 31 is connected in the second input shaft 131.Second driving member 31 includes that the first driving member 311, second passes Moving part 312 and third driving member 313.First driving member 311 is connected in the second driving mechanism 3, and with the second driving mechanism 3 Output end can rotate synchronously, such as be connected in the rotation axis of servo motor.Have in the periphery of the first driving member 311 along week To the gear teeth of interval configuration.Second driving member 312 is connected in one end on the second input shaft 131 far from third steering portion 132, and It is able to drive the second input shaft 131 synchronous rotation.There are the gear teeth of circumferentially spaced configuration in the periphery of the second driving member 312. Third driving member 313 is socketed on the periphery of the first driving member 311 and the second driving member 312, has in the inner circumferential of third driving member 313 There are the gear teeth of circumferentially spaced configuration.The gear teeth of the inner circumferential of third driving member 313 adapt to the first driving member 311 and the second transmission The gear teeth of 312 periphery of part, that is, the rotation of the output end of the second driving mechanism 3 can be transferred to and second by third driving member 313 The second driving member 312 that input shaft 131 couples.

In the present embodiment, with reference to Fig. 6, along the axial direction of the second input shaft 131, the first driving member 311 and second is passed There is preset spacing between moving part 312, and the intermeshing structure of the gear teeth is used by cooperation and third driving member 313, it can be with The shake of rotation impact and electric device itself when the second driving member 31 being enabled to buffer electric device starting work, makes It is more smooth and soft that the rotation of the second input shaft 131 must be transferred to, the case where not having moment and overload.

In one embodiment of the invention, in conjunction with reference Fig. 5, Fig. 6 and Fig. 8, the first output shaft 121 passes through a cross universal 6 linkage steering mechanism of coupling member.Cross universal coupling member 6 includes the first yoke 61, the second yoke and universal yoke.The One yoke 61 is connected in the one end of the first output shaft 121 far from the second steering portion 122, and the second yoke is connected in steering mechanism.Ten thousand It is connected in the first yoke 61 and the second yoke respectively to yoke to be linked.In the present embodiment, have on the first yoke 61 For fixing the first connecting portion 611 of the first output shaft 121, wherein first connecting portion 611 is socketed on the first output shaft 121 Periphery, and the inner circumferential of first connecting portion 611 has a plurality of gear teeth of circumferentially spaced configuration, which is used in the first yoke 61 clamp the first output shaft 121 when being fixedly connected with the first output shaft 121.

In one embodiment of the invention, with reference to Fig. 8, first connecting portion 611 has along 121 axial extension of the first output shaft Slot 611A, and offers the fixation hole 611B extended along third direction, and third direction is constructed so as to be substantially perpendicular to second direction. Wherein, screw or bolt can pass through fixation hole 611B.Under the fastening effect of screw or bolt, the fluting 611A is along week Upward spacing can reduce, so that the gear teeth in first connecting portion 611 can clamp the first output shaft 121, to reach One output shaft 121, which is exported to rotation precision height, the turning efficiency of steering mechanism, to be stablized, and the purpose of maintenance easy to disassemble.

In one embodiment of the invention, in conjunction with reference Fig. 5 and Fig. 6, steering mechanism and the second driving mechanism 3 are configured to along the Two directions are longer.That is, as shown in fig. 6, the second driving mechanism 3 is configured to be basically parallel to the steering drive axle 4 of steering mechanism.In In passenger car field, linked between transfer 1 and power steering stgear 5 by steering drive axle 4, and in order to make steering drive axle 4 Uninterruptedly work normally, therefore, the position by the device on other vehicles as far as possible far from steering drive axle 4.It, can by Fig. 6 To find out, transfer 1 is changed using the application, the second driving mechanism 3 can be arranged on being parallel to steering drive axle 4, The free switching between pilot steering and automatic Pilot can be reached in the case where wasting space.That is, the application Arrangement compared with the existing technology in need to switch steering mechanism between the first driving mechanism 2 and the second driving mechanism 3 The structure of interaction relation saves arrangement space.It will be appreciated that needing to consider when the integrally-built layout of vehicle Vehicle integrally assemble after center of gravity, the application change transfer 1 can by the second driving mechanism 3 be arranged in be parallel to turn To transmission shaft 4, the concentration of the steering system center of gravity of the application ensure that, it will not be towards the inclined possibility of side.

One embodiment of the invention provides a kind of automatic Pilot vehicle, includes vehicle body (not shown) and above-mentioned steering System.Wherein, above-mentioned transfer 1, the first driving mechanism 2, the second driving mechanism 3 and the steering mechanism are fixed respectively It is supported on vehicle body.

The above is only the preferred embodiment of the present invention, are not intended to restrict the invention, for the technology of this field For personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.

Claims (10)

1. a kind of transfer, includes:

One bracket；

One first input link is rotatably supported on bracket with the relatively described bracket, is extended comprising one along first direction The first input shaft and one can with the first input shaft rotate synchronously the first steering portion；And

One first output link, the second steering portion and one comprising being engaged in the first steering portion can be same with the second steering portion Walk the first output shaft of rotation；

It is characterized in that,

The transfer includes second input link being supported on bracket in a manner of it can rotate relative to the bracket, Second input link includes second input shaft for being connected in first output shaft；

First output shaft is configured to the rotation of first input shaft or second input shaft from second direction Upper output.

2. a kind of transfer according to claim 1, which is characterized in that second input link passes through a bearing block It is supported on bracket；The transfer includes the first driving member, and first driving member includes:

Third steering portion can be rotated synchronously with second input shaft；And

4th steering portion is engaged in the third steering portion and is able to drive the first output shaft rotation.

3. a kind of transfer according to claim 2, which is characterized in that the bracket includes a pedestal and one with opposite The mode that the pedestal can be dismantled is supported in the shell on the pedestal, the shell have one be equipped with the first steering portion, The containing cavities of second steering portion and the first driving member.

4. according to claim 1 or a kind of 2 any transfers, which is characterized in that the bracket include a pedestal and One is supported in the shell on the pedestal in such a way that the relatively described pedestal can be dismantled, and the shell has one to be equipped with first The containing cavities of steering portion and the second steering portion.

5. a kind of steering system, which is characterized in that comprising any transfer of Claims 1-4, be connected in described the First driving mechanism of one input shaft, the second driving mechanism for being connected in the second input shaft and it is connected in the first output shaft Steering mechanism；First driving mechanism and second driving mechanism are constructed to be permeable to that the first input shaft is operatively driven to turn Dynamic, a side of first driving mechanism and second driving mechanism includes electric device.

6. a kind of steering system according to claim 5, which is characterized in that second driving mechanism has one to be connected in Second driving member of second input shaft, second driving member includes:

First driving member can be connected in second driving machine with the output end of second driving mechanism with rotating synchronously Structure；

Second driving member can be connected in second input shaft with second input shaft with rotating synchronously；And

Third driving member, for first driving member and the second driving member of linking；

Along the extension direction of the second input shaft, there is preset spacing between first driving member and second driving member；Its In, second driving mechanism includes electric device.

7. a kind of steering system according to claim 5, which is characterized in that the steering mechanism is used to link to be turned on vehicle Dynamic bridge simultaneously drives rotation bridge rotation, and first output shaft passes through the cross universal coupling member linkage steering mechanism, institute Stating cross universal coupling member includes:

One first yoke is connected in first output shaft；

One second yoke, is connected in the steering mechanism；And

One universal yoke, for first yoke and second yoke of linking；

First yoke includes a plurality of wheels with the circumferentially spaced periphery for configuring and being socketed on first output shaft The first connecting portion of tooth.

8. a kind of steering system according to claim 7, which is characterized in that the first connecting portion has along the first output The fluting that axis direction extends, the gear teeth are configured to the folder when the fluting reduces along the circumferential spacing of the first output shaft Tight first output shaft.

9. according to a kind of any steering system of claim 5 to 8, which is characterized in that the steering mechanism and described the Two driving mechanisms are configured to longer in a second direction.

10. a kind of automatic Pilot vehicle, which is characterized in that comprising vehicle body and be configured on vehicle body such as claim 5 to 9 any steering systems, the transfer, the first driving mechanism, the second driving mechanism and the steering mechanism It is fixedly supported on the vehicle body respectively.