CN110588776B - A carrying vehicle chassis trolley - Google Patents

A carrying vehicle chassis trolley Download PDF

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CN110588776B
CN110588776B CN201911006643.6A CN201911006643A CN110588776B CN 110588776 B CN110588776 B CN 110588776B CN 201911006643 A CN201911006643 A CN 201911006643A CN 110588776 B CN110588776 B CN 110588776B
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steering wheel
rod
connecting rod
hydraulic
chassis
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CN110588776A (en
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周理东
邱红友
谌发坤
阳鹏
王仁全
王舰
张皓崎
陈兰
兰兵德
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Chongqing Kairui Testing Equipment Co ltd
China Automotive Engineering Research Institute Co Ltd
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CHONGQING CAERI AUTOMOBILE TEST EQUIPMENT DEVELOPMENT CO LTD
China Automotive Engineering Research Institute Co Ltd
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D7/00Steering linkage; Stub axles or their mountings
    • B62D7/20Links, e.g. track rods

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Abstract

本发明涉及承载车技术领域,具体公开了一种承载车底盘小车,包括底盘、转向机构、左转向轮组和右转向轮组,转向机构包括左连杆、第一中间连杆、拨叉、推杆、第二中间连杆和右连杆;左转向轮组与左连杆的左端转动连接,左连杆的右端与第一中间连杆的左端转动连接;右转向轮组与右连杆的右端转动连接,右连杆的左端与第二中间连杆的右端转动连接;拨叉包括一体成型的左端、右端和凸出端;拨叉的左端和右端分别与第一中间连杆的右端、第二中间连杆的左端固定连接;推杆与第一中间连杆、第二中间连杆平行设置,推杆包括尾端和活动端,尾端固定连接在底盘上,活动端与拨叉的凸出端转动连接。本发明的技术方案结构紧凑、转向灵活且能精确控制。

Figure 201911006643

The invention relates to the technical field of carrying vehicles, and specifically discloses a carrying vehicle chassis trolley, which comprises a chassis, a steering mechanism, a left steering wheel set and a right steering wheel set. The steering mechanism comprises a left connecting rod, a first intermediate connecting rod, a shifting fork, The push rod, the second intermediate link and the right link; the left steering wheel set is rotatably connected with the left end of the left link, and the right end of the left link is rotatably connected with the left end of the first intermediate link; the right steering wheel set is connected with the right link The right end of the fork is rotatably connected, and the left end of the right link is rotatably connected with the right end of the second intermediate link; the shift fork includes an integrally formed left end, a right end and a protruding end; the left and right ends of the shift fork are respectively connected with the right end of the first intermediate link , The left end of the second intermediate link is fixedly connected; the push rod is arranged in parallel with the first intermediate link and the second intermediate link, the push rod includes a tail end and a movable end, the tail end is fixedly connected to the chassis, and the movable end is connected to the fork The male end of the swivel connection. The technical solution of the present invention has compact structure, flexible steering and precise control.

Figure 201911006643

Description

一种承载车底盘小车A carrying vehicle chassis trolley

技术领域technical field

本发明涉及承载车技术领域,特别涉及一种承载车底盘小车。The invention relates to the technical field of carrying vehicles, in particular to a carrying vehicle chassis trolley.

背景技术Background technique

目前在汽车的先进驾驶辅助系统(ADAS,Advanced Driver Assistant System)测试中,包括自动紧急制动系统(AEB,Autonomous Emergency Braking System)试验、自适应巡航控制系统(Adaptive Cruise Control System,简称ACC)试验、车道偏离报警系统(Lane Departure Warning System,简称LDW)试验和前向碰撞预警系统(ForwardCollision Warning,FCW)试验等子试验,这些子试验需要模拟行人车辆的运动状态,为此需要一套专用的目标位承载机器人作为目标车承载平台,它需要具备平稳高速移动,精确地路径控制,较好的加速及减速性能,较长的续航里程等特点。Currently in the test of the advanced driver assistance system (ADAS, Advanced Driver Assistant System) of the car, including the automatic emergency braking system (AEB, Autonomous Emergency Braking System) test, the adaptive cruise control system (Adaptive Cruise Control System, referred to as ACC) test , Lane Departure Warning System (LDW) test and Forward Collision Warning (FCW) test and other sub-tests, these sub-tests need to simulate the motion state of pedestrians and vehicles, for which a set of special As the target vehicle carrying platform, the target position carrying robot needs to have the characteristics of stable and high-speed movement, precise path control, good acceleration and deceleration performance, and long cruising range.

国内生产的AGV小车整体结构与目标车承载平台类似,AGV小车主要是电机通过齿轮传动的方式带动轮毂转动实现转向,伺服电机为小车提供动力。但是AGV小车也存在如下缺点:1、AGV小车的转向机构为电机直接驱动轮毂转向,这样转向力矩大,响应速度慢,难以进行精确控制。2、AGV小车一般采用有轨导航或者激光导航,且在低速工况下运行,精度较低。ADAS测试中需要目标车实现高速、高精度的运行,AGV小车的结构难以满足如此高的响应要求。3、AGV小车一般行驶速度在20Km/h以内,对加速度、减速度的要求都比较低,而ADAS测试中要求目标车做到时速72Km/h,加速度、减速度要求也比较高。The overall structure of the domestically produced AGV trolley is similar to the target vehicle carrying platform. The AGV trolley is mainly driven by the motor through gear transmission to drive the wheel hub to rotate to achieve steering, and the servo motor provides power for the trolley. However, the AGV car also has the following shortcomings: 1. The steering mechanism of the AGV car is driven by the motor to directly drive the wheel hub steering, so the steering torque is large, the response speed is slow, and it is difficult to accurately control. 2. AGV trolleys generally use rail navigation or laser navigation, and operate at low speeds with low accuracy. In the ADAS test, the target vehicle needs to achieve high-speed and high-precision operation, and the structure of the AGV car is difficult to meet such high response requirements. 3. The general driving speed of AGV cars is within 20Km/h, and the requirements for acceleration and deceleration are relatively low. In the ADAS test, the target vehicle is required to achieve a speed of 72Km/h, and the requirements for acceleration and deceleration are also relatively high.

因此,AGV小车难以作为目标车承载平台。为了保证ADAS测试的顺利进行,需要一种结构紧凑、的小车。Therefore, it is difficult for the AGV car to be used as the target vehicle carrying platform. In order to ensure the smooth progress of ADAS testing, a compact and compact car is required.

发明内容SUMMARY OF THE INVENTION

本发明的目的在于提供一种承载车底盘小车,以精确控制转向。The purpose of the present invention is to provide a carrying vehicle chassis trolley to precisely control steering.

为解决上述技术问题,本发明技术方案如下:In order to solve the above-mentioned technical problems, the technical scheme of the present invention is as follows:

一种承载车底盘小车,包括底盘、转向机构、左转向轮组和右转向轮组,转向机构包括左连杆、第一中间连杆、拨叉、推杆、第二中间连杆和右连杆;左转向轮组与左连杆的左端转动连接,左连杆的右端与第一中间连杆的左端转动连接;右转向轮组与右连杆的右端转动连接,右连杆的左端与第二中间连杆的右端转动连接;拨叉包括一体成型的左端、右端和凸出端;拨叉的左端和右端分别与第一中间连杆的右端、第二中间连杆的左端固定连接;推杆与第一中间连杆、第二中间连杆平行设置,推杆包括尾端和活动端,尾端固定连接在底盘上,活动端与拨叉的凸出端转动连接。A carrying vehicle chassis trolley includes a chassis, a steering mechanism, a left steering wheel group and a right steering wheel group, and the steering mechanism includes a left link, a first intermediate link, a shift fork, a push rod, a second intermediate link and a right link rod; the left steering wheel set is rotatably connected with the left end of the left link, and the right end of the left link is rotatably connected with the left end of the first intermediate link; the right steering wheel set is rotatably connected with the right end of the right link, and the left end of the right link is connected with the left end of the first intermediate link. The right end of the second intermediate link is rotatably connected; the shift fork includes an integrally formed left end, a right end and a protruding end; the left and right ends of the shift fork are respectively fixedly connected to the right end of the first intermediate link and the left end of the second intermediate link; The push rod is arranged in parallel with the first intermediate link and the second intermediate link. The push rod includes a tail end and a movable end, the tail end is fixedly connected to the chassis, and the movable end is rotatably connected with the protruding end of the fork.

基础方案原理及有益效果如下:The principle and beneficial effects of the basic scheme are as follows:

需要进行转向时,通过推杆活动端的伸出或者缩回,即可带动第一中间连杆和第二中间连杆向左或向右移动,使左连杆和右连杆向左或向右移动,从而实现左转向轮组和右转向轮组向左或向右转动。最终达到控制小车转向的目的。When steering is required, the first intermediate link and the second intermediate link can be driven to move left or right by extending or retracting the movable end of the push rod, so that the left link and the right link can move left or right. move so that the left and right steer wheels turn left or right. Finally, the purpose of controlling the steering of the car is achieved.

在本方案中推杆、第一中间连杆和第二中间连杆只做直线运动就能实现转向,这样可以节省安装空间,使转向更加平稳、更加可靠的同时也更加省力。In this solution, the push rod, the first intermediate link and the second intermediate link can only perform linear motion to realize steering, which can save installation space, make steering more stable and reliable, and save effort.

进一步,还包括驱动轮组和两驱动机构;驱动轮组包括两驱动轮,一驱动轮对应一驱动机构;驱动机构包括电机、固定底座、大转轮、链条、小链轮、后悬架和后转轴;Further, it also includes a driving wheel group and two driving mechanisms; the driving wheel group includes two driving wheels, and one driving wheel corresponds to a driving mechanism; the driving mechanism includes a motor, a fixed base, a large runner, a chain, a small chain wheel, a rear suspension and rear axle;

电机固定在固定底座上,固定底座固定在底盘上,电机的输出轴朝向对应的驱动轮;大转轮固定连接在电机的输出轴上;后悬架位于驱动轮与电机之间,后悬架的一端转动连接在底盘上,后悬架的另一端还开设有通孔,后转轴穿过通孔,后转轴与电机的输出轴平行,后转轴的一端与驱动轮固定连接,后转轴的另一端与小链轮固定连接,小链轮和大转轮位于同一竖直平面内,小链轮和大转轮通过链条连接。The motor is fixed on the fixed base, the fixed base is fixed on the chassis, and the output shaft of the motor faces the corresponding driving wheel; the large runner is fixedly connected to the output shaft of the motor; the rear suspension is located between the driving wheel and the motor, and the rear suspension One end of the rear suspension is rotatably connected to the chassis, the other end of the rear suspension is also provided with a through hole, the rear rotating shaft passes through the through hole, the rear rotating shaft is parallel to the output shaft of the motor, one end of the rear rotating shaft is fixedly connected with the driving wheel, and the other side of the rear rotating shaft is fixedly connected to the driving wheel. One end is fixedly connected with the small sprocket, the small sprocket and the large runner are located in the same vertical plane, and the small sprocket and the large runner are connected by a chain.

在运动时,电机的输出轴旋转带动大转轮旋转,通过链条将转速扭矩传递至小链轮;小链轮即可带动驱动轮做旋转运动。During movement, the output shaft of the motor rotates to drive the large runner to rotate, and the torque is transmitted to the small sprocket through the chain; the small sprocket can drive the driving wheel to rotate.

本方案中,驱动机构的结构优点在于:1、链传动载荷分布均匀,传动准确平稳,更加适用于ADAS测试中对于目标车频繁加减速,和速度精确控制的要求。2、由于电机体积的限制难以同时做到很高的转速和扭矩,所以采用链轮副做升速处理,减小对电机的要求,有利于降低成本。In this scheme, the structural advantages of the drive mechanism are as follows: 1. The chain drive has uniform load distribution, accurate and stable transmission, and is more suitable for the frequent acceleration and deceleration of the target vehicle and the precise speed control requirements in the ADAS test. 2. Due to the limitation of the motor volume, it is difficult to achieve high speed and torque at the same time, so the sprocket pair is used for speed-up processing, which reduces the requirements for the motor and is conducive to reducing costs.

进一步,左转向轮组包括左转向轮和左转动杆;右转向轮组包括右转向轮和右转动杆;左转向轮与左转动杆的一端转动连接,左转动杆的另一端与左连杆的左端转动连接;右转向轮与右转动杆的一端转动连接;右转动杆的另一端与右连杆的右端转动连接。Further, the left steering wheel group includes a left steering wheel and a left rotation rod; the right steering wheel group includes a right steering wheel and a right rotation rod; the left steering wheel is rotatably connected with one end of the left rotation rod, and the other end of the left rotation rod It is rotatably connected with the left end of the left connecting rod; the right steering wheel is rotatably connected with one end of the right rotating rod; the other end of the right rotating rod is rotatably connected with the right end of the right connecting rod.

左转向轮组和右转向轮组分别利用左转动杆和右转动杆形成的杠杆原理,这样可以更加省力。The left steering wheel set and the right steering wheel set utilize the lever principle formed by the left turning rod and the right turning rod respectively, which can save more effort.

进一步,左转向轮组还包括左固定片,左转动杆靠近左转向轮的一端还与左固定片的一端转动连接,左固定片远离左转动杆的一端与底盘固定连接。Further, the left steering wheel set also includes a left fixing piece, the end of the left turning rod close to the left steering wheel is also rotatably connected with one end of the left fixing piece, and the end of the left fixing piece away from the left turning rod is fixedly connected with the chassis.

以左转向轮组为例,通过左固定片与左转动杆转动连接处形成支点,便于左转向轮以支点为圆心,向左摆动或向右摆动,进行转向。Taking the left steering wheel set as an example, a fulcrum is formed by the rotational connection between the left fixing plate and the left turning rod, so that the left steering wheel can swing left or right to steer with the fulcrum as the center of the circle.

进一步,直线行驶时,第一中间连杆和第二中间连杆均平行于左转向轮和右转向轮的轴线,左转动杆和右转动杆均垂直于左转向轮和右转向轮的轴线。Further, when driving in a straight line, the first intermediate link and the second intermediate link are both parallel to the axes of the left steering wheel and the right steering wheel, and the left turning rod and the right turning rod are both perpendicular to the axis of the left steering wheel and the right steering wheel. axis.

能保证第一中间连杆和第二中间连杆在做向左或向右的直线运动时,只要向左或向右的行程一致,向左或向右转动的角度就能实现一致。It can be ensured that when the first intermediate link and the second intermediate link move in a straight line to the left or right, as long as the strokes to the left or right are consistent, the angle of rotation to the left or right can be consistent.

进一步,所述转向机构还包括关节轴承,左连杆与左转动杆、第一中间连杆之间均通过关节轴承转动连接;右连杆与右转动杆、第二中间连杆之间均通过关节轴承转动连接。Further, the steering mechanism also includes a joint bearing, and the left connecting rod, the left rotating rod, and the first intermediate connecting rod are all connected in rotation through the joint bearing; the right connecting rod, the right rotating rod, and the second intermediate connecting rod are connected They are all rotatably connected by means of spherical plain bearings.

关节轴承在运动时可以在任意角度旋转摆动,使连接部位的活动更加灵活。The joint bearing can rotate and swing at any angle during movement, making the movement of the connecting part more flexible.

进一步,所述推杆为电动推杆或液压推杆。Further, the push rod is an electric push rod or a hydraulic push rod.

通过电动推杆或液压推杆便于对转向进行准确的控制。Accurate steering control is facilitated by electric or hydraulic push rods.

进一步,所述驱动机构还包括滚动轴承,滚动轴承固定在后转轴与通孔之间。Further, the driving mechanism further includes a rolling bearing, and the rolling bearing is fixed between the rear rotating shaft and the through hole.

通过设置滚动轴承,能减小后转轴与通孔之间的摩擦力,减小磨损。By arranging the rolling bearing, the friction force between the rear rotating shaft and the through hole can be reduced, and the wear and tear can be reduced.

进一步,还包括两刹车机构;左转向轮组和右转向轮组均对应有一刹车机构;左转动杆和右转动杆的后端均沿转向轮轴线开设有转轴孔;刹车机构包括液压卡钳、刹车片、刹车轴、伸缩杆和前转轴;Further, it also includes two braking mechanisms; the left steering wheel group and the right steering wheel group have a corresponding braking mechanism; the rear ends of the left and right rotation rods are provided with shaft holes along the axis of the steering wheel; the braking mechanism includes hydraulic calipers , brake pads, brake shafts, telescopic rods and front shafts;

前转轴穿过转轴孔,前转轴的一端与左转向轮或右转向轮固定连接,前转轴的另一端与伸缩杆的一端连接,伸缩杆的另一端与刹车轴的一端连接;刹车轴的另一端与底盘转动连接;小车直线运动时,刹车轴与左转向轮或右转向轮的轴线平行;刹车片固定在刹车轴上,液压卡钳固定在底盘上。The front rotating shaft passes through the rotating shaft hole, one end of the front rotating shaft is fixedly connected with the left steering wheel or the right steering wheel, the other end of the front rotating shaft is connected with one end of the telescopic rod, and the other end of the telescopic rod is connected with one end of the brake shaft; One end is connected with the chassis in rotation; when the trolley moves in a straight line, the brake shaft is parallel to the axis of the left steering wheel or the right steering wheel; the brake pad is fixed on the brake shaft, and the hydraulic caliper is fixed on the chassis.

转向机构设计为连杆结构,能够在有限空间内为左转向轮组和右转向轮组安装刹车机构。当需要刹车时,液压卡钳会夹住刹车片,刹车力通过万向节传到前转轴上,即可实现转向轮的刹车,同时不影响转向机构工作。The steering mechanism is designed as a link structure, which can install the brake mechanism for the left steering wheel set and the right steering wheel set in a limited space. When braking is required, the hydraulic calipers will clamp the brake pads, and the braking force will be transmitted to the front shaft through the universal joint, which can realize the braking of the steering wheel without affecting the work of the steering mechanism.

进一步,刹车机构还包括两万向节,前转轴的另一端通过一万向节与伸缩杆的一端连接,伸缩杆的另一端通过另一万向节与刹车轴的一端连接。Further, the brake mechanism also includes two universal joints, the other end of the front rotating shaft is connected with one end of the telescopic rod through a universal joint, and the other end of the telescopic rod is connected with one end of the brake shaft through another universal joint.

设置万向节能便于伸缩杆的活动。The universal energy saving is set to facilitate the movement of the telescopic rod.

附图说明Description of drawings

图1为实施例一底盘及转向机构的俯视图;Fig. 1 is the top view of the chassis and steering mechanism of Embodiment 1;

图2为实施例一转向机构的俯视图;Fig. 2 is the top view of the steering mechanism of the embodiment one;

图3为实施例一底盘及驱动机构的俯视图;Fig. 3 is the top view of the chassis and the driving mechanism of the first embodiment;

图4为实施例一驱动机构的立体示意图;FIG. 4 is a three-dimensional schematic diagram of a driving mechanism in Embodiment 1;

图5为实施例二刹车机构的立体纵剖图。FIG. 5 is a three-dimensional longitudinal cross-sectional view of the braking mechanism of the second embodiment.

具体实施方式Detailed ways

下面通过具体实施方式进一步详细说明:The following is further described in detail by specific embodiments:

说明书附图中的附图标记包括:Reference numerals in the drawings in the description include:

左转动杆1、左连杆2、第一中间连杆3、电动推杆4、拨叉5、右连杆6、固定片7、电机8、左转向轮9、大转轮10、小链轮11、链条12、后悬架13、液压卡钳14、刹车片15、刹车轴16、伸缩杆17、前转轴18。Left rotating rod 1, left connecting rod 2, first intermediate connecting rod 3, electric push rod 4, shift fork 5, right connecting rod 6, fixed piece 7, motor 8, left steering wheel 9, large runner 10, small Sprocket 11 , chain 12 , rear suspension 13 , hydraulic caliper 14 , brake pads 15 , brake shaft 16 , telescopic rod 17 , front rotating shaft 18 .

实施例一Example 1

一种承载车底盘小车,包括底盘、驱动机构、转向机构、左转向轮组、右转向轮组和驱动轮组。本实施例中,转向机构、左转向轮组和右转向轮组设置在底盘的前部,驱动机构和驱动轮组设置在底盘的后部。A carrying vehicle chassis trolley comprises a chassis, a driving mechanism, a steering mechanism, a left steering wheel group, a right steering wheel group and a driving wheel group. In this embodiment, the steering mechanism, the left steering wheel group and the right steering wheel group are arranged in the front part of the chassis, and the driving mechanism and the driving wheel group are arranged in the rear part of the chassis.

如图1和图2所示,左转向轮组包括左转向轮9、左转动杆1和左固定片7;右转向轮组包括右转向轮、右转动杆和右固定片;左转向轮9和右转向轮分别设置在底盘前部的左右两侧。As shown in Figures 1 and 2, the left steering wheel set includes a left steering wheel 9, a left rotating rod 1 and a left fixed piece 7; the right steering wheel set includes a right steering wheel, a right rotating rod and a right fixed piece; The wheel 9 and the right steering wheel are respectively arranged on the left and right sides of the front part of the chassis.

具体的,以左转向轮9为例,左固定片7为三角形,左转动杆1垂直于左转向轮9的轴线设置,左转动杆1后端的一侧与左转向轮9转动连接,左转动杆1后端远离左转向轮9的一侧与左固定片7的一端部铰接,左固定片7远离左转动杆1的一端与底盘螺栓连接。Specifically, taking the left steering wheel 9 as an example, the left fixed piece 7 is triangular, the left rotation rod 1 is arranged perpendicular to the axis of the left steering wheel 9, and one side of the rear end of the left rotation rod 1 is rotatably connected with the left steering wheel 9, The side of the rear end of the left rotation rod 1 away from the left steering wheel 9 is hinged with one end of the left fixed piece 7 , and the end of the left fixed piece 7 away from the left rotation rod 1 is connected with the chassis bolts.

右转向轮与左转向轮9镜像对称,右转向轮的具体连接方式这里不再赘述。The right steering wheel is mirror-symmetrical to the left steering wheel 9, and the specific connection method of the right steering wheel is not repeated here.

转向机构包括左连杆2、第一中间连杆3、拨叉5、推杆、第二中间连杆和右连杆6。本实施中,推杆采用电动推杆4,在其他实施例中,也可以也采用液压推杆。The steering mechanism includes a left link 2 , a first intermediate link 3 , a shift fork 5 , a push rod, a second intermediate link and a right link 6 . In this embodiment, an electric push rod 4 is used as the push rod. In other embodiments, a hydraulic push rod may also be used.

左转向轮9的左转动杆1的前端还通过关节轴承与左连杆2的左端转动连接,左连杆2的右端通过关节轴承与第一中间连杆3的左端转动连接。右转向轮的右转动杆的前端还通过关节轴承与右连杆6的右端转动连接,右连杆6的左端通过关节轴承与第二中间连杆的右端转动连接。The front end of the left rotation rod 1 of the left steering wheel 9 is also rotatably connected to the left end of the left link 2 through a joint bearing, and the right end of the left link 2 is rotatably connected to the left end of the first intermediate link 3 through a joint bearing. The front end of the right rotating rod of the right steering wheel is also rotatably connected to the right end of the right link 6 through a joint bearing, and the left end of the right link 6 is rotatably connected to the right end of the second intermediate link through a joint bearing.

拨叉5包括一体成型的左端、右端和向后伸出的凸出端。拨叉5的左右两端分别与第一中间连杆3的右端和第二中间连杆的左端螺栓连接。电动推杆4与第一中间连杆和第二中间连杆平行设置,电动推杆4包括尾端和活动端,尾端通过螺栓固定在底盘上,活动端与拨叉5的凸出端铰接。The shift fork 5 includes an integrally formed left end, a right end and a rearwardly protruding protruding end. The left and right ends of the shift fork 5 are respectively bolted to the right end of the first intermediate link 3 and the left end of the second intermediate link. The electric push rod 4 is arranged in parallel with the first intermediate link and the second intermediate link. The electric push rod 4 includes a tail end and a movable end, the tail end is fixed on the chassis by bolts, and the movable end is hinged with the protruding end of the fork 5 .

需要进行转向时,通过电动推杆4活动端的伸出或者缩回,即可带动第一中间连杆3和第二中间连杆向左或向右移动,使左连杆2和右连杆6向左或向右移动,推动左转动杆1和右转动杆以铰接点(转动杆1与对应固定片7之间的铰接点)为支点向左或向右摆动,从而实现转向轮向左或向右转动。最终达到控制小车转向的目的。When steering is required, the first intermediate link 3 and the second intermediate link can be driven to move left or right through the extension or retraction of the movable end of the electric push rod 4, so that the left link 2 and the right link 6 are moved. Move to the left or right, push the left turning rod 1 and the right turning rod to swing left or right with the hinge point (the hinge point between the turning rod 1 and the corresponding fixed piece 7) as the fulcrum, so as to realize the steering wheel direction. Turn left or right. Finally, the purpose of controlling the steering of the car is achieved.

在本方案中电动推杆4、第一中间连杆3和第二中间连杆只做直线运动就能实现转向,转向轮部分利用固定片7形成的转向支座和杠杆原理,这样可以节省安装空间,使转向更加平稳、更加可靠的同时也更加省力。In this solution, the electric push rod 4, the first intermediate link 3 and the second intermediate link can be steered only by linear motion, and the steering wheel part uses the steering bearing and lever principle formed by the fixed piece 7, which can save installation space, making the steering smoother, more reliable and less labor-intensive.

如图3所示,驱动轮组包括左驱动轮和右驱动轮,左驱动轮和右驱动轮均配备独立的驱动机构。驱动机构包括电机8、固定底座、大转轮10、链条12、小链轮11、后悬架13和后转轴。As shown in FIG. 3 , the driving wheel set includes a left driving wheel and a right driving wheel, and both the left driving wheel and the right driving wheel are equipped with independent driving mechanisms. The driving mechanism includes a motor 8, a fixed base, a large runner 10, a chain 12, a small sprocket 11, a rear suspension 13 and a rear rotating shaft.

本实施例以左驱动轮及对应的驱动机构进行举例说明。电机8沿左右方向设置,电机8包括外壳和输出轴,电机8的外壳通过螺栓固定在固定底座上,固定底座通过螺栓固定在底盘上,电机8的输出轴朝向左驱动轮。This embodiment is described by taking the left driving wheel and the corresponding driving mechanism as an example. The motor 8 is arranged in the left-right direction. The motor 8 includes a casing and an output shaft. The casing of the motor 8 is fixed on the fixed base by bolts, and the fixed base is fixed on the chassis by bolts. The output shaft of the motor 8 faces the left drive wheel.

大转轮10焊接在电机8的输出轴上。后悬架13位于左驱动轮与电机8之间,后悬架13沿前后方向设置;后悬架13的后端铰接在底盘上,后悬架13的前端还开设有通孔,后转轴穿过通孔,后转轴与电机8的输出轴平行,后转轴的一端与左驱动轮焊接,后转轴的另一端与小链轮11焊接,使得小链轮11和左驱动轮同轴转动。后转轴与后悬架13之间还设置有滚动轴承。具体的,滚动轴承外表面与通孔间隙配合,后转轴穿过滚动轴承。小链轮11和大转轮10位于同一竖直平面内,小链轮11和大转轮10通过链条12连接。The large runner 10 is welded on the output shaft of the motor 8 . The rear suspension 13 is located between the left driving wheel and the motor 8, and the rear suspension 13 is arranged in the front and rear direction; Through the through hole, the rear shaft is parallel to the output shaft of the motor 8, one end of the rear shaft is welded with the left drive wheel, and the other end of the rear shaft is welded with the small sprocket 11, so that the small sprocket 11 and the left drive wheel rotate coaxially. A rolling bearing is also provided between the rear rotating shaft and the rear suspension 13 . Specifically, the outer surface of the rolling bearing is in clearance fit with the through hole, and the rear rotating shaft passes through the rolling bearing. The small sprocket 11 and the large runner 10 are located in the same vertical plane, and the small sprocket 11 and the large runner 10 are connected by a chain 12 .

右驱动轮及对应的驱动机构与左驱动轮及对应的驱动机构镜像对称,这里不再赘述。The right driving wheel and the corresponding driving mechanism are mirror-symmetrical with the left driving wheel and the corresponding driving mechanism, which will not be repeated here.

如图4所示,运动时,电机8的输出轴旋转带动大转轮10旋转,通过链条12将转速扭矩传递至小链轮11;小链轮11即可带动左驱动轮做旋转运动,右驱动轮同理。As shown in FIG. 4 , when moving, the output shaft of the motor 8 rotates to drive the large runner 10 to rotate, and the rotational speed torque is transmitted to the small sprocket 11 through the chain 12; the small sprocket 11 can drive the left drive wheel to rotate, and the right The same goes for the drive wheels.

本方案中,驱动机构的结构优点在于:1、链传动载荷分布均匀,传动准确平稳,更加适用于ADAS测试中对于目标车频繁加减速,和速度精确控制的要求。2、由于电机8体积的限制难以同时做到很高的转速和扭矩,所以采用链轮副做升速处理,减小对电机8的要求,有利于降低成本。In this scheme, the structural advantages of the drive mechanism are as follows: 1. The chain drive has uniform load distribution, accurate and stable transmission, and is more suitable for the frequent acceleration and deceleration of the target vehicle and the precise speed control requirements in the ADAS test. 2. Due to the limitation of the size of the motor 8, it is difficult to achieve a high speed and torque at the same time, so the sprocket pair is used for speed-up processing, which reduces the requirements for the motor 8 and is conducive to reducing costs.

实施例二Embodiment 2

一种承载车底盘小车,与实施例一的区别在于,还包括两刹车机构。左转向轮组和右转向轮组均对应有一刹车机构。左转动杆1后端沿左转向轮9轴线开设有转轴孔。A carrying vehicle chassis trolley is different from the first embodiment in that it also includes two braking mechanisms. Both the left steering wheel group and the right steering wheel group have a corresponding braking mechanism. The rear end of the left turning rod 1 is provided with a shaft hole along the axis of the left turning wheel 9 .

如图5所示,以左转向轮组对应的刹车机构为例,刹车机构包括液压卡钳14、刹车片15、刹车轴16、伸缩杆17、两万向节和前转轴18。前转轴18穿过转轴孔,前转轴18的一端与左转向轮9焊接,前转轴18的另一端通过一万向节与伸缩杆17的一端连接,伸缩杆17的另一端通过另一万向节与刹车轴16的一端连接。刹车轴16的另一端与底盘转动连接,从而使对刹车轴16进行限位。小车直线运动时,刹车轴16与左转向轮9的轴线平行。刹车片15焊接在刹车轴16上,液压卡钳14通过螺栓固定在底盘上。液压卡钳14通过夹住刹车片15进行刹车,此处为现有技术,这里不再赘述。As shown in FIG. 5 , taking the brake mechanism corresponding to the left steering wheel set as an example, the brake mechanism includes hydraulic calipers 14 , brake pads 15 , brake shaft 16 , telescopic rod 17 , two universal joints and front shaft 18 . The front rotating shaft 18 passes through the rotating shaft hole, one end of the front rotating shaft 18 is welded with the left steering wheel 9, the other end of the front rotating shaft 18 is connected with one end of the telescopic rod 17 through a universal joint, and the other end of the telescopic rod 17 passes through another universal joint. The joint is connected to one end of the brake shaft 16 . The other end of the brake shaft 16 is rotatably connected with the chassis, so as to limit the position of the brake shaft 16 . When the trolley moves in a straight line, the brake shaft 16 is parallel to the axis of the left steering wheel 9 . The brake pad 15 is welded on the brake shaft 16, and the hydraulic caliper 14 is fixed on the chassis by bolts. The hydraulic caliper 14 performs braking by clamping the brake pads 15 , which is the prior art and will not be repeated here.

右转向轮与左转向轮9镜像对称,右转向轮对应的刹车机构这里不再赘述。The right steering wheel is mirror-symmetrical to the left steering wheel 9 , and the braking mechanism corresponding to the right steering wheel is not repeated here.

转向机构设计为连杆结构,能够在有限空间内为左转向轮组和右转向轮组安装刹车机构。当需要刹车时,液压卡钳14会夹住刹车片15,刹车力通过万向节传到前转轴18上,即可实现转向轮的刹车,同时不影响转向机构工作。The steering mechanism is designed as a link structure, which can install the brake mechanism for the left steering wheel group and the right steering wheel group in a limited space. When braking is required, the hydraulic caliper 14 will clamp the brake pad 15, and the braking force will be transmitted to the front rotating shaft 18 through the universal joint, so that the braking of the steering wheel can be realized without affecting the work of the steering mechanism.

实施例三Embodiment 3

一种承载车底盘小车,与实施例一的区别在于,推杆采用液压推杆。A carrying vehicle chassis trolley differs from the first embodiment in that the push rod adopts a hydraulic push rod.

还包括检测机构,检测机构包括温度传感器、液压传感器、处理单元和报警单元;温度传感器粘接在液压推杆的外壳上,用于检测减震器外壳处的温度;液压传感器粘接在液压推杆的内部,用于检测内部的液压。It also includes a detection mechanism, the detection mechanism includes a temperature sensor, a hydraulic sensor, a processing unit and an alarm unit; the temperature sensor is bonded to the housing of the hydraulic push rod to detect the temperature at the shock absorber housing; the hydraulic sensor is bonded to the hydraulic push rod. The inside of the rod is used to detect the hydraulic pressure inside.

处理单元与温度传感器和液压传感器信号连接,处理单元用于接收温度传感器的温度信号和液压传感器的液压信号。处理单元中预存有温度阈值和液压阈值;处理单元用于将温度信号与温度阈值进行对比,判断温度信号是否超过温度阈值,处理单元还用于将液压信号与液压阈值进行对不,判断液压信号是否超过液压阈值,当温度信号超过温度阈值且液压信号超过液压阈值时,处理单元用于向报警单元发出报警信号,报警单元用于在接收的报警信号时发出报警提醒。本实施例中,温度传感器采用TR-D145型温度传感器;液压传感器采用MIK-P300型扩散硅压力变送器;处理单元采用stm32系列处理芯片;报警单元采用蜂鸣器,报警提醒为鸣响。The processing unit is connected with the signal of the temperature sensor and the hydraulic pressure sensor, and the processing unit is used for receiving the temperature signal of the temperature sensor and the hydraulic pressure signal of the hydraulic pressure sensor. The temperature threshold and the hydraulic threshold are pre-stored in the processing unit; the processing unit is used to compare the temperature signal with the temperature threshold to judge whether the temperature signal exceeds the temperature threshold, and the processing unit is also used to compare the hydraulic signal with the hydraulic threshold to judge the hydraulic signal Whether the hydraulic threshold is exceeded, when the temperature signal exceeds the temperature threshold and the hydraulic signal exceeds the hydraulic threshold, the processing unit is used to send an alarm signal to the alarm unit, and the alarm unit is used to send an alarm reminder when the alarm signal is received. In this embodiment, the temperature sensor adopts TR-D145 temperature sensor; the hydraulic pressure sensor adopts MIK-P300 diffusion silicon pressure transmitter; the processing unit adopts stm32 series processing chip; the alarm unit adopts buzzer, and the alarm reminder is sound.

由于实验场地的限制,承载车底盘小车在承载需要测试的汽车后,往往需要在禁止是进行原地转向操作,由于汽车自重较大,液压推杆在动作时需要承受巨大的阻力,长期使用后容易出现故障;现有技术中,通常是等故障已经出现时,才会进行维修。液压推杆的油液被压缩做功,会出现温度的变化,本实施例中,可以对温度的变化进行检测,通过温度信号是否超过温度阈值,以及液压信号是否超过液压阈值共同表征目前液压推杆的受力情况,如果受力过大,报警单元报警,及时提醒相关的工作人员,工作人员可以避免静止转向,来减小液压推杆的受力以延长使用寿命,或者在使用后进行及时的维护。通过温度和液压两个维度进行检测,准确率更高,能有效降低误报。Due to the limitation of the experimental site, after carrying the car to be tested, the chassis trolley of the load-carrying vehicle often needs to perform in-situ steering operation when it is forbidden. Due to the large self-weight of the car, the hydraulic push rod needs to bear huge resistance when it is moved. After long-term use Failures are prone to occur; in the prior art, maintenance is usually performed only when a failure has occurred. The oil of the hydraulic push rod is compressed to do work, and there will be a temperature change. In this embodiment, the temperature change can be detected, and the current hydraulic push rod can be characterized by whether the temperature signal exceeds the temperature threshold and whether the hydraulic signal exceeds the hydraulic threshold. If the force is too large, the alarm unit will alarm to remind the relevant staff in time. The staff can avoid static steering to reduce the force of the hydraulic push rod to prolong the service life, or carry out timely maintenance after use. maintain. Detection is performed in two dimensions, temperature and hydraulic pressure, with higher accuracy and can effectively reduce false positives.

以上所述的仅是本发明的实施例,方案中公知的具体结构及特性等常识在此未作过多描述。应当指出,对于本领域的技术人员来说,在不脱离本发明结构的前提下,还可以作出若干变形和改进,这些也应该视为本发明的保护范围,这些都不会影响本发明实施的效果和专利的实用性。本申请要求的保护范围应当以其权利要求的内容为准,说明书中的具体实施方式等记载可以用于解释权利要求的内容。The above descriptions are only examples of the present invention, and common knowledge such as well-known specific structures and characteristics in the solution are not described too much here. It should be pointed out that for those skilled in the art, some modifications and improvements can be made without departing from the structure of the present invention. These should also be regarded as the protection scope of the present invention, and these will not affect the implementation of the present invention. Effectiveness and utility of patents. The scope of protection claimed in this application shall be based on the content of the claims, and the descriptions of the specific implementation manners in the description can be used to interpret the content of the claims.

Claims (4)

1. A chassis trolley of a bearing vehicle comprises a chassis, a steering mechanism, a left steering wheel set and a right steering wheel set, and is characterized in that the steering mechanism comprises a left connecting rod, a first middle connecting rod, a shifting fork, a push rod, a second middle connecting rod and a right connecting rod; the left steering wheel set is rotationally connected with the left end of the left connecting rod, and the right end of the left connecting rod is rotationally connected with the left end of the first middle connecting rod; the right steering wheel set is rotationally connected with the right end of the right connecting rod, and the left end of the right connecting rod is rotationally connected with the right end of the second middle connecting rod; the shifting fork comprises a left end, a right end and a protruding end which are integrally formed; the left end and the right end of the shifting fork are respectively and fixedly connected with the right end of the first middle connecting rod and the left end of the second middle connecting rod; the push rod is arranged in parallel with the first middle connecting rod and the second middle connecting rod and comprises a tail end and a movable end, the tail end is fixedly connected to the chassis, and the movable end is rotatably connected with the protruding end of the shifting fork;
the push rod adopts a hydraulic push rod;
the detection mechanism comprises a temperature sensor, a hydraulic sensor, a processing unit and an alarm unit; the temperature sensor is bonded on the shell of the hydraulic push rod and used for detecting the temperature of the shell of the hydraulic push rod; the hydraulic sensor is bonded in the hydraulic push rod and used for detecting the hydraulic pressure in the hydraulic push rod;
the processing unit is in signal connection with the temperature sensor and the hydraulic sensor and is used for receiving a temperature signal of the temperature sensor and a hydraulic signal of the hydraulic sensor; the processing unit is pre-stored with a temperature threshold and a hydraulic threshold; the processing unit is used for comparing the temperature signal with a temperature threshold value and judging whether the temperature signal exceeds the temperature threshold value or not, the processing unit is also used for comparing the hydraulic signal with a hydraulic threshold value and judging whether the hydraulic signal exceeds the hydraulic threshold value or not, when the temperature signal exceeds the temperature threshold value and the hydraulic signal exceeds the hydraulic threshold value, the processing unit is used for sending an alarm signal to the alarm unit, and the alarm unit is used for sending an alarm prompt when receiving the alarm signal;
the device also comprises a driving wheel set and two driving mechanisms; the driving wheel set comprises two driving wheels, and one driving wheel corresponds to one driving mechanism; the driving mechanism comprises a motor, a fixed base, a large rotating wheel, a chain, a small chain wheel, a rear suspension and a rear rotating shaft;
the motor is fixed on the fixed base, the fixed base is fixed on the chassis, and an output shaft of the motor faces to the corresponding driving wheel; the large rotating wheel is fixedly connected to an output shaft of the motor; the rear suspension is positioned between the driving wheel and the motor, one end of the rear suspension is rotatably connected to the chassis, the other end of the rear suspension is also provided with a through hole, the rear rotating shaft penetrates through the through hole and is parallel to an output shaft of the motor, one end of the rear rotating shaft is fixedly connected with the driving wheel, the other end of the rear rotating shaft is fixedly connected with the small chain wheel, the small chain wheel and the large rotating wheel are positioned in the same vertical plane, and the small chain wheel and the large rotating wheel are connected through a chain;
the left steering wheel group comprises a left steering wheel and a left rotating rod; the right steering wheel group comprises a right steering wheel and a right steering rod; the left steering wheel is rotatably connected with one end of the left rotating rod, and the other end of the left rotating rod is rotatably connected with the left end of the left connecting rod; the right steering wheel is rotationally connected with one end of the right steering rod; the other end of the right rotating rod is rotationally connected with the right end of the right connecting rod;
the left steering wheel set also comprises a left fixing plate, one end of the left rotating rod, which is close to the left steering wheel, is also rotatably connected with one end of the left fixing plate, and one end of the left fixing plate, which is far away from the left rotating rod, is fixedly connected with the chassis;
when the vehicle runs in a straight line, the first middle connecting rod and the second middle connecting rod are parallel to the axes of the left steering wheel and the right steering wheel, and the left rotating rod and the right rotating rod are perpendicular to the axes of the left steering wheel and the right steering wheel;
the steering mechanism further comprises a joint bearing, and the left connecting rod is rotatably connected with the left rotating rod and the first middle connecting rod through the joint bearing; the right connecting rod is rotatably connected with the right rotating rod and the second middle connecting rod through joint bearings.
2. The chassis cart of claim 1, wherein: the driving mechanism further comprises a rolling bearing, and the rolling bearing is fixed between the rear rotating shaft and the through hole.
3. The chassis cart of claim 2, wherein; the brake device also comprises two brake mechanisms; the left steering wheel set and the right steering wheel set are respectively provided with a brake mechanism correspondingly; the rear ends of the left rotating rod and the right rotating rod are both provided with rotating shaft holes along the axis of the steering wheel; the brake mechanism comprises hydraulic calipers, brake pads, a brake shaft, a telescopic rod and a front rotating shaft;
the front rotating shaft penetrates through the rotating shaft hole, one end of the front rotating shaft is fixedly connected with the left steering wheel or the right steering wheel, the other end of the front rotating shaft is connected with one end of the telescopic rod, and the other end of the telescopic rod is connected with one end of the brake shaft; the other end of the brake shaft is rotatably connected with the chassis; when the trolley moves linearly, the brake shaft is parallel to the axis of the left steering wheel or the right steering wheel; the brake block is fixed on the brake shaft, and the hydraulic caliper is fixed on the chassis.
4. The chassis cart of claim 3, wherein; the brake mechanism further comprises two universal joints, the other end of the front rotating shaft is connected with one end of the telescopic rod through one universal joint, and the other end of the telescopic rod is connected with one end of the brake shaft through the other universal joint.
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CN115875615B (en) * 2023-03-01 2023-05-16 山东欧森管道科技有限公司 Epoxy glass fiber reinforced plastic pipeline leakage detection device and detection method thereof

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