CN111005995B - Transmission system of unmanned test platform vehicle - Google Patents
Transmission system of unmanned test platform vehicle Download PDFInfo
- Publication number
- CN111005995B CN111005995B CN201911080914.2A CN201911080914A CN111005995B CN 111005995 B CN111005995 B CN 111005995B CN 201911080914 A CN201911080914 A CN 201911080914A CN 111005995 B CN111005995 B CN 111005995B
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- wheel
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- test platform
- belt wheel
- platform vehicle
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 29
- 238000012360 testing method Methods 0.000 title claims abstract description 22
- 230000001360 synchronised effect Effects 0.000 claims abstract description 14
- 230000007246 mechanism Effects 0.000 claims description 14
- 230000000694 effects Effects 0.000 claims 3
- 238000009434 installation Methods 0.000 description 10
- 230000008859 change Effects 0.000 description 3
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000003345 natural gas Substances 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 238000000844 transformation Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Images
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H7/00—Gearings for conveying rotary motion by endless flexible members
- F16H7/02—Gearings for conveying rotary motion by endless flexible members with belts; with V-belts
- F16H7/023—Gearings for conveying rotary motion by endless flexible members with belts; with V-belts with belts having a toothed contact surface or regularly spaced bosses or hollows for slipless or nearly slipless meshing with complementary profiled contact surface of a pulley
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H7/00—Gearings for conveying rotary motion by endless flexible members
- F16H7/08—Means for varying tension of belts, ropes, or chains
- F16H7/10—Means for varying tension of belts, ropes, or chains by adjusting the axis of a pulley
- F16H7/14—Means for varying tension of belts, ropes, or chains by adjusting the axis of a pulley of a driving or driven pulley
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- 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
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H7/00—Gearings for conveying rotary motion by endless flexible members
- F16H7/08—Means for varying tension of belts, ropes, or chains
- F16H2007/0889—Path of movement of the finally actuated member
- F16H2007/0891—Linear path
Abstract
The invention belongs to the technical field of unmanned automobiles, and discloses a transmission system for an unmanned test platform vehicle. The transmission system comprises a power input end fixed on the frame and a power output end connected with the rear wheel, wherein a synchronous belt is arranged between the power input end and the power output end, and the power input end, the power output end and the synchronous belt are respectively provided with two sets and are symmetrically arranged at two sides of the rear wheel; the transmission system further comprises a belt wheel center distance adjusting structure and a braking system. The invention reduces the system size as much as possible on the premise of ensuring enough output power, and is suitable for the test platform car with compact space.
Description
Technical Field
The invention relates to the technical field of unmanned automobiles, in particular to a transmission system for an unmanned test platform car.
Background
The invention relates to a platform vehicle for testing unmanned driving, which is characterized in that the length and the width of the platform vehicle are similar to those of a common passenger vehicle, the overall height of a mechanical structure of a chassis of the platform vehicle is lower, the platform vehicle is provided with three wheels, the first two wheels are responsible for steering the vehicle, and the rear wheel drives the vehicle to run. The power system used by the traditional automobile generally comprises an engine or a motor, a gearbox and other parts, but the parts are often bulky and cannot be arranged in a test platform car with compact space. Therefore, a set of transmission system needs to be designed according to the arrangement space and dynamic requirements of the test platform truck.
Disclosure of Invention
In view of this, the present invention provides a transmission system for an unmanned test platform vehicle, which includes two sets of transmission devices symmetrically disposed on both sides of a rear wheel, thereby saving space and ensuring sufficient power requirements.
In order to achieve the purpose, the invention adopts the following technical scheme:
a transmission system of an unmanned test platform vehicle comprises two sets of transmission devices which are symmetrically arranged, each transmission device comprises a power input end fixed on a vehicle frame and a power output end connected with a rear wheel, and a synchronous belt is arranged between the power input end and the power output end;
the power input end comprises a driving belt wheel, a belt wheel shaft, a first bearing and a bearing seat, two sides of the driving belt wheel are respectively connected with a motor and a bottom flange of the belt wheel shaft, and a top shaft section of the belt wheel shaft is in interference fit with an inner ring of the first bearing arranged in the bearing seat;
the power output end comprises a driven belt wheel, and the side surface of the driven belt wheel is rigidly connected with a side surface end cover of the rear wheel;
the synchronous belt is wound on the driving belt wheel and the driven belt wheel.
Further, in the above technical scheme, the frame is composed of a cross beam, a longitudinal beam and an installation box body, motor fixing plates for fixing a motor are arranged on two symmetrical side faces of the installation box body, the motor fixing plates are connected with the installation box body through bolts, and connecting holes in the motor fixing plates are elliptical holes.
Further, in the above technical solution, the transmission system further includes a center distance adjusting mechanism, the center distance adjusting mechanism includes a movable lifting lug fixed on the motor fixing plate and a non-movable lifting lug fixed on the mounting box body, the non-movable lifting lug is provided with an adjusting bolt, and a screw head of the adjusting bolt contacts with a side wall of the movable lifting lug.
Further, in the above technical solution, the two driving pulleys are on the same axis, and the axis is parallel to the axis of the rear wheel.
Further, in the above technical solution, a brake disc is mounted on the pulley shaft, and brake calipers are disposed on both sides of the brake disc.
Further, in the above technical solution, a wheel height adjusting device is connected to the rear wheel.
Further, in the above technical scheme, the wheel height adjusting device includes two bearing arms, a middle bearing shaft, a rocker arm and a double-acting cylinder, two ends of the bearing arm are respectively and fixedly connected with the rear wheel and the middle bearing shaft, two ends of the rocker arm are respectively connected with the middle bearing shaft and a piston head of the double-acting cylinder, the bearing arm, the rocker arm and the middle bearing shaft form a fixed whole, two ends of the middle bearing shaft are provided with second bearings fixed on the frame, and the double-acting cylinder is connected with a device for controlling the piston head to move.
Further, in the above technical solution, a tension pulley and a height adjusting lever for adjusting the tension progress of the synchronous belt are provided on the intermediate bearing shaft.
Furthermore, in the above technical solution, one end of the height adjusting rod, which is far away from the middle bearing shaft, is provided with a long hole and a long bolt, and the long bolt penetrates through the long hole to connect the height adjusting rod with the mounting box body; the long bolt is matched with the nut on the long bolt to control the longitudinal position of the height adjusting rod, so that the height of the wheel is adjusted.
The invention has the beneficial effects that:
(1) the double-power-source single-wheel drive is adopted, namely, the two motors carry out power output on the rear wheel through belt transmission, and the size of the system in the longitudinal height is reduced as much as possible on the premise of ensuring enough output power.
(2) The power input end is provided with a belt wheel shaft, the bottom of the belt wheel shaft is connected with a driving belt wheel, the top of the belt wheel shaft is in interference fit with the bearing inner ring, the bearing outer ring is in interference fit with the bearing seat, and the bearing seat is mechanically connected with the frame. The design mode can complete the mechanical fixation of the power input end, can distribute the shaft pressing force generated when the synchronous belt is tensioned to the bearing seat and the motor shaft, reduces the bending moment borne by the motor shaft, improves the stress condition on the motor shaft, and realizes the axial fixation between the driving belt wheel and the motor shaft through the interference fit between the bearing and the shaft.
(3) Because the size of the wheels of the vehicle related by the invention is small, the height of the wheels is adjustable, and the braking system can not be arranged at the wheels according to the conventional treatment, the braking system is arranged at the power input end, in particular the braking disc is fixedly connected to the middle part of the belt wheel shaft.
(4) The system comprises a belt wheel center distance adjusting mechanism, changes the screwing depth of the adjusting bolt on the side wall of the non-movable lifting lug, and can achieve the purpose of adjusting the center distance between the driving belt wheel and the driven belt wheel.
(5) The tensioning wheel and the height adjusting rod can act together to realize fine adjustment of the synchronous tensioning progress.
Drawings
FIG. 1 is a schematic perspective view of a transmission system of an unmanned test platform vehicle according to an embodiment of the present invention;
FIG. 2 is a schematic top view of an embodiment of the present invention illustrating the drivelines of an unmanned test platform vehicle;
FIG. 3 is an enlarged view taken at A in FIG. 1;
in the figure: 11-longitudinal beam, 12-cross beam, 13-installation box, 14-motor fixing plate, 15-first bolt, 16-motor fixing bolt, 21-driving pulley, 22-driven pulley, 23-synchronous belt, 24-pulley shaft, 25-first bearing, 26-bearing seat, 27-second bolt, 28-third bolt, 29-fourth bolt, 31-bearing arm, 32-middle bearing shaft, 33-rocker arm, 34-double-acting cylinder, 35-connecting block, 36-second bearing, 41-brake disc, 42-brake caliper, 43-brake bracket, 44-fifth bolt, 51-movable lifting lug, 52-non-movable lifting lug, 53-adjusting bolt, 54-locknut and 55-sixth bolt, 61-tension wheel, 62-height adjusting rod.
Detailed Description
For a better understanding of the present invention, the following examples and drawings further illustrate the invention, but do not limit the invention.
In the description of the present invention, it is to be understood that the terms "horizontal", "bottom", "top", "inside", "outside", "longitudinal", "up", "down", "front", "back", "left", "right", "vertical", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
As shown in fig. 1-2, a transmission system of an unmanned test platform vehicle comprises two sets of transmission devices symmetrically arranged at two sides of a rear wheel, wherein each transmission device comprises a power input end fixed on a vehicle frame, a power output end connected with the rear wheel, a synchronous belt 23 arranged between the power input end and the power output end, a wheel height adjusting mechanism for adjusting the height of the rear wheel, a braking mechanism and a belt wheel center distance adjusting mechanism.
The frame is whole transmission system's installation carrier, by longeron 11, crossbeam 12 and installation box body 13 fixed connection constitute, still be fixed with two motor fixed plates 14 in the installation box body, be equipped with oval-shaped hole on the four corners of motor fixed plate 14, first bolt 15 passes this oval-shaped hole and connects motor fixed plate 14 on installation box body 13, because oval-shaped hole has certain length, consequently adjust first bolt 15's fixed position, can make motor fixed plate 14 and the front and back position of installation box body 13 slide adjustment in certain extent.
A motor (not shown) is a driving source of the transmission system, and is fixed on the motor fixing plate 14 by a motor fixing bolt 16. In a particular embodiment, a single, less powerful motor, such as a servo motor, is selected for use due to space constraints. In other embodiments where space is not a limitation, the power source may be configured as an internal combustion engine powered using gasoline, diesel, or natural gas. The power generated by the electric motor should provide sufficient torque to drive the entire vehicle.
The power input comprises a driving pulley 21, a pulley shaft 24, a first bearing 25 and a bearing seat 26. One side of the driving belt wheel 21 is connected with the shaft end of the motor, and the central inner hole of the driving belt wheel 21 is in transition fit with the outer ring of the motor shaft; the outer ring of the motor shaft and the inner ring of the driving belt wheel 21 are provided with key slot holes, and the motor torque is transmitted to the driving belt wheel 21 through a flat key. The other side of the driving pulley 21 is connected with a bottom flange of a pulley shaft 24 through a second bolt 27, the outer circular surface of the top shaft section of the pulley shaft 24 is in interference fit with an inner ring of a first bearing 25 arranged in a bearing seat 26, and the bottom of the bearing seat 26 is provided with a bolt hole and fixed on the mounting box body 6 through a third bolt 28.
The power output end comprises driven pulleys 22, the two driven pulleys 22 are respectively positioned on two sides of the rear wheel, and the side surfaces of the driven pulleys 22 are rigidly connected with the side surface end covers of the rear wheel through fourth bolts 29.
The synchronous belt 23 is wound on the driving pulley 21 and the driven pulley 22, and is used for transmitting the torque of the driving pulley 21 to the driven pulley 22, so as to drive the rear wheel to rotate, thereby realizing the power transmission at a longer distance. The advantage of selecting belt rotation is that: the wheel height adjusting mechanism needs to be arranged between the power input end and the wheels, so that the center distance between the input shaft and the output shaft is larger, and the arrangement is easier by adopting belt transmission; the test platform car needs to bear working conditions of collision, rolling and the like frequently, and the synchronous belt has certain elasticity, so that impact and vibration loads can be alleviated, and the service life of a transmission system is prolonged; if the transmission system is overloaded, the belt slips on the belt wheel, and other parts can be prevented from being damaged.
The wheel height adjusting mechanism comprises a bearing arm 31, an intermediate bearing shaft 32, a rocker arm 33, a double-acting cylinder 34 and a connecting block 35. Both ends of the rear wheel are fixedly connected with one end of the bearing arm 31, and in a specific embodiment, the connection mode is bolt fixed connection; the other ends of the two bearing arms 31 are fixedly connected with the middle bearing shaft 32, the middle part of the middle bearing shaft 32 is fixedly connected with the rocker arm 33, and preferably, the bearing arms 31, the rocker arm 33 and the middle bearing shaft 32 are fixed in a welding mode; both ends of the middle bearing shaft 32 are connected with a second bearing 36, and the second bearing 36 is fixed on the frame; the force-bearing arm 31, the swing arm 33 and the intermediate force-bearing shaft 32 form a fixed whole, so that the rear wheel and the intermediate force-bearing shaft 32 can rotate around the axis. The piston head of the double-acting cylinder 34 is connected with the other end of the rocker arm 33 through a connecting block 35, and the middle bearing shaft 32 can rotate along with the change of the height of the piston head, so that the change of the height of the rear wheel is realized; in one embodiment, the connecting block 35 is connected to the piston head of the cylinder 34 by a connecting pin. The double-acting cylinder 34 is connected with a pneumatic control device, and the piston head can move up and down.
Each set of transmission device is provided with a brake mechanism, the brake mechanism comprises a brake disc 41, a brake caliper 42 and a brake bracket 43, the brake disc 41 is fixed in the middle of the pulley shaft 24 through a fifth bolt 44, the brake caliper 20 is used for clamping two sides of the brake disc 21, the brake caliper 20 is connected to the brake bracket 43, and the brake bracket 43 is fixed on the frame.
The pulley center distance adjusting mechanism includes a movable lug 51, a non-movable lug 52, an adjusting bolt 53, and a locknut 54. The movable lifting lug 51 is fixed on the motor fixing plate 14, preferably, the movable lifting lug 51 can be fixed by a first bolt 15, and the first bolt 15 sequentially penetrates through the movable lifting lug 51, the motor fixing plate 14 and the motor to fix the movable lifting lug 51, the motor fixing plate 14 and the motor into a whole. The non-movable lifting lug 52 is fixed to the mounting box 13 using a sixth bolt 55. The adjusting bolt 53 is in threaded connection with the non-movable lifting lug 52, the screw head of the adjusting bolt is connected with the side wall of the movable lifting lug, the adjusting bolt 53 is further provided with a locknut 54, the adjusting bolt 53 is rotated to push the input end assembly to move forwards integrally, so that the large belt wheel and the small belt wheel reach a preset center distance, and the tensioning of the synchronous belt is realized.
In order to further fine adjust the timing of the timing belt 23, a tension pulley 61 and a height adjusting rod 62 may be fixedly connected to the supporting mechanism of the rear wheel. Specifically, the tensioning wheel 61 may be provided by: the two sides of each synchronous belt 23 are provided with lugs welded on the middle bearing shaft 32, the lugs are vertically upward, a tension wheel 60 and a pin are arranged between the end parts of the two lugs, threads are tapped at the two ends of the pin, the pin penetrates through the tension wheel 60, and the two ends of the pin are fixedly connected with the lugs through nuts. The setting method of the height adjusting rod 62 is as follows: one end fixed connection of height control pole 62 is on middle bearing shaft 32, the one end that height control pole 62 kept away from middle bearing shaft 32 is opened there is rectangular hole, the length direction in rectangular hole is the same with height control pole 37's length direction, a long bolt passes rectangular hole and fixes height control pole 62's the other end on installation box body 13, screw or loosen the nut on the long bolt, can change height control pole 62 for the height of bolt, thereby realize the fine setting of wheel height.
The above is, of course, only a specific application example of the present invention, and the scope of the present invention is not limited in any way. In addition to the above embodiments, the present invention may have other embodiments, and any technical solutions formed by equivalent substitutions or equivalent transformations are within the scope of the present invention as claimed.
Claims (8)
1. The transmission system of the unmanned test platform vehicle is characterized by comprising two sets of transmission devices which are symmetrically arranged, wherein the transmission devices are used for outputting power to the same rear wheel, each transmission device comprises a power input end fixed on a vehicle frame and a power output end connected with the corresponding wheel, and a synchronous belt (23) is arranged between the power input end and the power output end;
the power input end comprises a driving belt wheel (21), a belt wheel shaft (24), a first bearing (25) and a bearing seat (26), two sides of the driving belt wheel (21) are respectively connected with a motor and a bottom flange of the belt wheel shaft (24), and a top shaft section of the belt wheel shaft (24) is in interference fit with an inner ring of the first bearing (25) arranged in the bearing seat (26);
the power output end comprises a driven belt wheel (22), and the side surface of the driven belt wheel (22) is rigidly connected with a side surface end cover of the wheel;
the synchronous belt (23) is wound on the driving belt wheel (21) and the driven belt wheel (22);
the rear wheel is connected with a wheel height adjusting device;
wheel height adjusting device includes two load arms (31), middle bearing shaft (32), rocking arm (33) and two effect cylinders (34), the both ends of load arm (31) respectively with back wheel and middle bearing shaft (32) fixed connection, the both ends of rocking arm (33) are connected with the piston head of middle bearing shaft (32) and two effect cylinders (34) respectively, load arm (31), rocking arm (33) and middle bearing shaft (32) form a fixed whole, the both ends of middle bearing shaft (32) are equipped with second bearing (36) of fixing on the frame, be connected with the device that the control piston head removed on two effect cylinders (34).
2. The driverless test platform vehicle drive system of claim 1, wherein the frame is comprised of cross members (12), side members (11), and a mounting box (13), and motor fixing plates (14) for fixing a motor are provided on two symmetrical sides of the mounting box (13).
3. The driverless test platform vehicle drive system of claim 2, wherein the motor fixing plate (14) is bolted to the mounting box (13), and the bolt attachment holes in the motor fixing plate (14) are elliptical holes.
4. The driverless test platform vehicle drive system according to claim 3, further comprising a center-to-center distance adjusting mechanism, wherein the center-to-center distance adjusting mechanism comprises a movable lifting lug (51) fixed on the motor fixing plate (14) and a non-movable lifting lug (52) fixed on the mounting box body (13), the non-movable lifting lug (52) is provided with an adjusting bolt (53), and a screw head of the adjusting bolt (53) is in contact with a side wall of the movable lifting lug (51).
5. The driverless test platform vehicle drive system of claim 1 wherein the two drive pulleys (21) are on the same axis, and the axis is parallel to the axis of the rear wheel.
6. The driverless test platform vehicle drive system of claim 1, wherein a brake disc (41) is mounted on the pulley shaft (24), and wherein brake calipers (42) are provided on either side of the brake disc (41).
7. The driverless test platform vehicle drive system of claim 1, wherein the intermediate bearing shaft (32) is provided with a tensioner (61) and a height adjustment lever (62) for adjusting the tension of the timing belt (23).
8. The driverless test platform vehicle drive system of claim 7, wherein the end of the height adjustment bar (62) distal from the intermediate bearing shaft (32) is provided with a slotted hole and a long bolt, the long bolt passing through the slotted hole to connect the height adjustment bar (62) to the mounting box (13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911080914.2A CN111005995B (en) | 2019-11-07 | 2019-11-07 | Transmission system of unmanned test platform vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911080914.2A CN111005995B (en) | 2019-11-07 | 2019-11-07 | Transmission system of unmanned test platform vehicle |
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| Publication Number | Publication Date |
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| CN111005995A CN111005995A (en) | 2020-04-14 |
| CN111005995B true CN111005995B (en) | 2021-02-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201911080914.2A Expired - Fee Related CN111005995B (en) | 2019-11-07 | 2019-11-07 | Transmission system of unmanned test platform vehicle |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113879088B (en) * | 2021-09-30 | 2023-05-12 | 中汽研（天津）汽车工程研究院有限公司 | Drive-by-wire chassis system of intelligent network connection test equipment |
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| CN111005995A (en) | 2020-04-14 |
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