CN113184042A - Switching device for manned steering and unmanned steering of unmanned formula car - Google Patents
Switching device for manned steering and unmanned steering of unmanned formula car Download PDFInfo
- Publication number
- CN113184042A CN113184042A CN202110479769.6A CN202110479769A CN113184042A CN 113184042 A CN113184042 A CN 113184042A CN 202110479769 A CN202110479769 A CN 202110479769A CN 113184042 A CN113184042 A CN 113184042A
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- China
- Prior art keywords
- steering
- gear
- unmanned
- manned
- shaft
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D3/00—Steering gears
- B62D3/02—Steering gears mechanical
- B62D3/12—Steering gears mechanical of rack-and-pinion type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0421—Electric motor acting on or near steering gear
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/0475—Controlling other elements
Abstract
The invention relates to a switching device for manned steering and unmanned steering of an unmanned formula racing car, which comprises an unmanned driving mechanism, a manned driving mechanism and a steering executing mechanism, wherein the manned driving mechanism is in transmission connection with the steering executing mechanism, and the unmanned driving mechanism is in separable transmission connection with the steering executing mechanism through a separating component; unmanned actuating mechanism includes the steering wheel, the transmission is connected with the axle sleeve on its output shaft, its other end is connected with be arranged in with turn to actuating mechanism corresponding second gear meshing connection's first gear, the structure of separable set includes the second connecting portion of being connected with the first connecting portion that sets up on the axle sleeve, it is connected with drive arrangement through the connecting rod, the device drive drives axle sleeve along axial motion through the second connecting portion, make first gear and second gear meshing or break away from, realize the people and turn to the mode with unmanned fast switch-over that turns to, the steering wheel resistance when having eliminated the people and turning to.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to a switching device for manned steering and unmanned steering of an unmanned formula racing car.
Background
In the field of automatic driving technology, the formula racing car needs to realize an unmanned steering function, and also needs to have a manned steering function so as to be convenient for debugging and controlling the formula racing car. The formula free car is required to reduce the space occupied by the steering system as much as possible and to satisfy the requirement of light weight.
The existing steering switching method of the formula racing car is mainly divided into two methods, wherein one method is to switch the steering engine without separating the steering engine when the steering is carried out by a person and the steering is carried out by no person, so that the steering resistance of the person is huge and the abrasion of a steering system is aggravated; a steering engine needs to be separated during switching, but mechanical abrasion caused by tooth beating is not considered in the structure of a separating device, and unnecessary space waste is caused due to the complex structure.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a switching device for the manned steering and the unmanned steering of an unmanned formula racing car, which realizes the quick switching of the separated manned steering and the unmanned steering of a steering engine and eliminates the resistance of the steering engine when the unmanned steering engine turns.
The technical scheme adopted by the invention is as follows:
a switching device for manned steering and unmanned steering of an unmanned formula racing car comprises an unmanned driving mechanism, a manned driving mechanism and a steering executing mechanism, wherein the manned driving mechanism is in transmission connection with the steering executing mechanism, and the unmanned driving mechanism is in separable transmission connection with the steering executing mechanism through a separating assembly; the unmanned driving mechanism comprises a steering engine, an output shaft of the unmanned driving mechanism is in transmission connection with a shaft sleeve, the other end of the shaft sleeve is connected with a first gear, the first gear is used for being in meshing connection with a corresponding second gear in the steering executing mechanism, a first connecting portion is further arranged on the shaft sleeve, the structure of the separating assembly comprises a second connecting portion connected with the first connecting portion, the second connecting portion is connected with a driving device through a connecting rod, the connecting rod is driven by the driving device, the shaft sleeve is driven by the second connecting portion to move axially, so that the first gear is meshed with or separated from the second gear, and therefore switching between the manned steering mode and the unmanned steering mode is achieved.
The further technical scheme is as follows:
the second connecting part forms a hoop structure, and the first connecting part is arranged on the circumferential surface of the shaft sleeve along the circumferential direction and forms a clamping groove structure connected with the hoop structure.
The one end of clamp structure be equipped with connecting rod one end articulated hinge point, the connecting rod other end with drive arrangement's linear drive axle is articulated, just the connecting rod respectively with clamp structure the linear drive axle forms the contained angle, thereby will the linear drive axle along with axle sleeve axial vertically linear motion turns into the clamp structure reaches the axial motion of axle sleeve.
The middle part of the second gear is provided with an inner hole, and inner teeth which are used for being meshed with the outer teeth of the first gear are arranged in the inner hole.
The structure of the steering executing mechanism further comprises a steering gear in transmission connection with the second gear and a steering rack in meshed connection with the steering gear, and the steering gear is connected with the manned driving mechanism through a steering gear shaft fixedly connected with the steering gear.
The structure of the steering actuating mechanism further comprises a transition gear, and the transition gear is in meshing transmission with the external teeth of the second gear and the steering gear respectively; the transition gear is sleeved on the transition gear shaft, and the transition gear shaft is arranged in an installation shell which is fixedly connected with the steering engine shell and used for covering the steering actuating mechanism.
The structure of the manned driving mechanism comprises a steering wheel, a steering wheel transmission shaft and an intermediate transmission shaft, wherein one end of the steering wheel transmission shaft is fixedly connected with the steering wheel, and the other end of the steering wheel transmission shaft is connected with the two ends of the steering wheel transmission shaft through constant velocity universal joints.
The steering wheel transmission shaft is provided with an angle sensor, and the angle sensor is connected with a controller of the steering engine so as to adjust the angle of the first gear according to the rotating angle of the steering wheel and prevent teeth from being formed between the first gear and the second gear when the steering mode of a person is switched to the steering mode of an unmanned person.
The switching device is installed on the vehicle body, a main controller, a laser radar and a camera device are further arranged on the vehicle body, the laser radar and the camera device detect the environment, angle information needing to be steered is transmitted to the controller of the steering engine through the main controller, and therefore steering information is provided for the steering engine controller when no person steers.
And limiting parts are formed at two ends of the first connecting part along the axial direction on the shaft sleeve and are used for axially limiting the second connecting part.
The invention has the following beneficial effects:
according to the steering engine, the unmanned steering mechanism and the steering actuating mechanism are smoothly separated and engaged through the separating assembly, the steering engine separating type rapid switching between manned steering and unmanned steering is realized, and the steering engine resistance during manned steering is eliminated.
According to the invention, through the angle sensor and other detection devices, the matching precision of the switching device is improved, the mechanical abrasion caused by gear tooth beating during switching is avoided, and the stability and the accuracy of the steering switching process are improved.
Drawings
Fig. 1 is a schematic perspective view of an embodiment of the present invention.
Fig. 2 is a schematic view of an internal connection structure of the unmanned steering mechanism and the steering actuator according to the embodiment of the present invention.
Fig. 3 is a schematic view of a connection structure of an unmanned steering mechanism and a steering actuator in a disengaged state according to an embodiment of the present invention.
Fig. 4 is a schematic view of a shaft sleeve structure according to an embodiment of the present invention.
Fig. 5 is a schematic structural diagram of a first connection portion according to an embodiment of the invention.
In the figure: 1. a steering engine; 2. a drive device; 3. a connecting rod; 4. a second connecting portion; 5. a shaft sleeve; 6. a second gear; 7. a transition gear; 8. a transition gear shaft; 9. a steering gear; 10. a steering gear shaft; 11. a steering rack; 12. a first gear; 13. a constant velocity joint; 14. an intermediate transmission shaft; 15. a steering wheel; 16. a steering wheel drive shaft; 17. an angle sensor; 18. mounting a shell; 21. a linear drive shaft; 51. a first connection portion; 52. a limiting part.
Detailed Description
The following describes embodiments of the present invention with reference to the drawings.
The switching device for the manned steering and the unmanned steering of the unmanned formula racing car comprises an unmanned driving mechanism, a manned driving mechanism and a steering executing mechanism, wherein the manned driving mechanism is in transmission connection with the steering executing mechanism, and the unmanned driving mechanism is in separable transmission connection with the steering executing mechanism through a separating assembly. Referring to fig. 1, 2 and 3, the unmanned driving mechanism includes a steering engine 1, an output shaft of the steering engine is in transmission connection with a shaft sleeve 5, the other end of the shaft sleeve 5 is connected with a first gear 12, the first gear 12 is used for being engaged with a corresponding second gear 6 in the steering executing mechanism, and as shown in fig. 4, a first connecting portion 51 is arranged on the shaft sleeve 5; referring to fig. 2, the structure of the separation assembly includes a second connection portion 4 connected to the first connection portion 51, the second connection portion 4 is connected to the driving device 2 through a connecting rod 3, the connecting rod 3 is driven by the driving device 2, and the shaft sleeve 5 is driven by the second connection portion 4 to move in the axial direction, so that the first gear 12 is engaged with or disengaged from the second gear 6, thereby realizing the switching between the manned steering mode and the unmanned steering mode.
In the above embodiment, as a preferable mode, referring to fig. 5, the second connection portion 4 has a clip structure, and referring to fig. 4, the first connection portion 51 has a clip groove structure connected to the clip structure in a circumferential direction on a circumferential surface of the sleeve 5.
Specifically, one end of the hoop structure is provided with a hinge point hinged to one end of the connecting rod 3, the other end of the connecting rod 3 is hinged to the linear driving shaft 21 of the driving device 2, and the connecting rod 3 forms an included angle with the hoop structure and the linear driving shaft 21 respectively, so that the linear driving shaft 21 is converted into the hoop structure and the axial movement of the shaft sleeve 5 along the linear movement perpendicular to the axial direction of the shaft sleeve 5.
Preferably, the boss 5 has stopper portions 52 formed at both ends of the first connection portion 51 in the axial direction for axially stopping the second connection portion 4.
Specifically, the lower end of the shaft sleeve 5 is fixedly connected with the first gear 12, the upper end of the shaft sleeve is sleeved on the output shaft of the steering engine 1, and the hole formed in the shaft sleeve is not a complete cylindrical hole, so that the torque of the output shaft of the steering engine 1 can be transmitted to the first gear 12.
Specifically, the inner diameter of the collar of the hoop structure is slightly larger than the outer diameter of the clamping groove structure, so that the hoop structure is loosely connected with the clamping groove structure of the shaft sleeve 5 through the bolt, the shaft sleeve 5 can rotate in the collar of the hoop structure due to loose connection, too large resistance cannot be caused, and the bolt can be loosened to realize detachment; spacing portion 52 is the increase of radial dimension for the draw-in groove structure relatively, realizes spacing the axial of clamp structure to the rand external diameter of clamp structure slightly is greater than spacing portion 52's external diameter, is convenient for realize promoting from top to bottom.
In the above embodiment, the second gear 6 has an inner hole in the middle thereof, and inner teeth for meshing with the outer teeth of the first gear 12 are provided therein. Specifically, the thickness of the internal teeth is slightly smaller than half the thickness of the second gear 6.
In the above embodiment, as a preferable mode, the structure of the steering actuator further includes a steering gear 9 in transmission connection with the second gear 6, and a steering rack 11 in meshing connection with the steering gear 9, and the steering gear 9 is connected with the manned driving mechanism through a steering gear shaft 10 fixedly connected with the steering gear 9.
In the above embodiment, referring to fig. 1, the structure of the manned driving mechanism includes a steering wheel 15, a steering wheel transmission shaft 16 having one end fixedly connected to the steering wheel 15, and an intermediate transmission shaft 14, and both ends of the intermediate transmission shaft are connected to the steering gear shaft 10 and the other end of the steering wheel transmission shaft 16 through constant velocity joints 13, respectively.
Specifically, the steering wheel 15 and the steering wheel transmission shaft 16 are fixedly connected through a quick-release part, the steering wheel transmission shaft 16, the intermediate transmission shaft 14 and the steering gear shaft 10 are connected through two constant velocity universal joints 13, and the rotating angle of the steering wheel 15 is ensured to be equal to the rotating angle of the steering gear shaft 10; the steering gear 9 is fixedly connected with a steering gear shaft 10 and is meshed with a steering rack 11, and the steering rack 11 is connected with a sleeve covered outside the steering rack 11 through a sleeve, a fixed lug and a linear bearing.
Preferably, the steering actuator further comprises a transition gear 7, and the transition gear 7 is in meshing transmission with the external teeth of the second gear 6 and the steering gear 9; the transition gear 7 is sleeved on a transition gear shaft 8, the transition gear shaft 8 is arranged in an installation shell 18 which is fixedly connected with the shell of the steering engine 1 and used for covering the steering actuating mechanism, and the sleeve is also connected with the installation shell 18.
Specifically, the second gear 6 is completely meshed with the transition gear 7, the transition gear 7 and the steering gear 9, and the steering gear 9 is completely meshed with the steering rack 11.
Specifically, the driving device 2 employs an electric push rod. The electric push rod is fixedly connected to the mounting case 18 by a bolt, and the electric push rod moves in the horizontal direction as shown in fig. 2 as the linear driving shaft 21. When the vehicle is in an unmanned steering mode, the electric push rod is in an extension state, the hoop structure is pushed down through the connecting rod 3, the shaft sleeve 5 is driven to move downwards, the first gear 12 is meshed with the inner teeth of the second gear 6, the steering engine 1 for automatic steering is connected into a steering actuating mechanism, the torque of the steering engine 1 is transmitted, and unmanned steering is achieved; when the steering gear is switched to be turned by someone, the electric push rod 2 receives a signal and starts to recover, and the hoop structure is pulled upwards through the connecting rod 3, so that the shaft sleeve 5 is driven to move upwards, the first gear 12 and the second gear 6 are separated, and the purpose of separating the steering gear 1 from the steering actuating mechanism is achieved.
Preferably, an angle sensor 17 is provided on the steering wheel transmission shaft 16, and the angle sensor 17 is connected to a controller of the steering engine 1 to adjust the angle of the first gear 12 according to the rotation angle of the steering wheel 15, thereby preventing the first gear 12 and the second gear 6 from being toothed when the manned steering mode is switched to the unmanned steering mode.
The auto-change over device of this embodiment installs on the automobile body (be a part of automobile body), still is equipped with main control unit, laser radar and camera device on the automobile body, and laser radar and camera device testing environment transmit the angle information that will turn to for the controller of steering wheel 1 through main control unit to provide the information that turns to for steering wheel 1 controller when unmanned turning to.
In the process of switching from the manned steering to the unmanned steering, if the angle of the first gear 12 is not finely adjusted, the gear-beating phenomenon is likely to be caused, and the abrasion of the steering actuating mechanism is aggravated. Therefore, in the process of steering by a person, the angle sensor 17 rotates along with the steering wheel transmission shaft 16 to detect the turning angle of the steering wheel 15 in real time and send a turning angle signal to the steering engine controller, so that the steering engine 1 continuously adjusts the angle of the first gear 12, and the gear beating phenomenon is avoided when the steering engine is switched to the unmanned steering state. The specific operation process is as follows: in the case of unmanned driving, by laserThe radar and the camera detect the environment to give the angle needed to turn and transmit the angle to the main controller, and the steering engine receives the turning angle signal from the main controller, which is defined as theta1And the actual rotation angle of the real vehicle is detected from the angle sensor at the same time and is defined as theta2. According to the difference between two angles theta1-θ2The steering engine 1 generates a torque in the direction of eliminating the difference until the difference theta between the two angles reaches the set steering precision. When a person drives, the steering engine does not receive signals of the main controller, and only receives the actual rotation angle theta of the real vehicle detected by the angle sensor2And an angle theta (i) theta (theta) which is required to be rotated by the steering engine in order to prevent gear beating when the steering engine is switched to the unmanned steering mode again is calculated according to the transmission ratio i of the transmission system2The condition that the first gear 12 can be always accurately meshed with the second gear 6 when a person drives is realized.
The operation of the switching device of the present embodiment is as follows:
when the steering wheel is unmanned, the torque output by the steering engine 1 is transmitted to the second gear 6 through the first gear 12 in an internal meshing mode and then transmitted to the transition gear 7, the steering gear 9 and the steering rack 11 drive the steering rack 11 to slide, and the steering rack 11 is connected to steering columns (not shown in the figure) on corresponding points of wheels (not shown in the figure) through a left steering column and a right steering column to realize unmanned steering.
When the steering is switched to the steering by a person, the driving device 2 (electric push rod) lifts the first gear 12 through the connecting rod 3, the second connecting part 4 and the shaft sleeve 5, the connection with the steering actuating mechanism is broken, the person inputs torque to the steering gear 9 from the steering wheel 15 through the steering gear shaft 10 at the moment and then turns to the steering rack 11, and the steering is lighter and lighter because the transition gear 7 and the first gear 12 idle and have no resistance of the steering engine 1 at the moment. In the process of turning by a person, a steering wheel transmission shaft 16 operates a steering wheel 15 to rotate along with a vehicle hand to drive an angle sensor 17 fixed on the steering wheel transmission shaft to rotate; the angle sensor 17 sends the rotating angle of the steering wheel 15 to the controller of the steering engine 1, the controller of the steering engine 1 controls the first gear 12 to make adjustment, the inner teeth of the first gear and the second gear 6 can be completely meshed when switching, and gear abrasion caused by tooth beating is prevented.
Claims (10)
1. The switching device for the manned steering and the unmanned steering of the unmanned formula racing car comprises an unmanned driving mechanism, a manned driving mechanism and a steering executing mechanism, wherein the manned driving mechanism is in transmission connection with the steering executing mechanism; the unmanned driving mechanism comprises a steering engine (1), an output shaft of the unmanned driving mechanism is in transmission connection with a shaft sleeve (5), the other end of the shaft sleeve (5) is connected with a first gear (12), the first gear (12) is used for being meshed with a corresponding second gear (6) in the steering actuating mechanism, the shaft sleeve (5) is also provided with a first connecting part (51), the structure of the separating component comprises a second connecting part (4) connected with the first connecting part (51), the second connecting part (4) is connected with the driving device (2) through a connecting rod (3), the connecting rod (3) is driven by the driving device (2), the shaft sleeve (5) is driven to move along the axial direction through the second connecting part (4), so that the first gear (12) is meshed with or separated from the second gear (6), and the switching between the manned steering mode and the unmanned steering mode is realized.
2. The apparatus for switching between manned steering and unmanned steering of formula racing car according to claim 1, wherein the second connecting portion (4) is formed in a clip structure, and the first connecting portion (51) is formed in a clip structure connected to the clip structure in a circumferential direction of the sleeve (5).
3. The device for switching the manned steering and the unmanned steering of the formula racer according to claim 2, wherein one end of the hoop structure is provided with a hinge point hinged with one end of the connecting rod (3), the other end of the connecting rod (3) is hinged with a linear driving shaft (21) of the driving device (2), and the connecting rod (3) forms an included angle with the hoop structure and the linear driving shaft (21), respectively, so as to convert the linear driving shaft (21) into the axial movement of the hoop structure and the shaft sleeve (5) along a linear movement perpendicular to the axial direction of the shaft sleeve (5).
4. The device for switching between free-form car racing and free-form car steering according to claim 2, wherein the second gear (6) has an inner bore in the middle thereof, and inner teeth for meshing with the outer teeth of the first gear (12) are provided therein.
5. The formula racer manned steering and unmanned steering switching device according to claim 2, wherein the steering actuator further comprises a steering gear (9) in transmission connection with the second gear (6), and a steering rack (11) in meshing connection with the steering gear (9), and the steering gear (9) is connected with the manned driving mechanism through a steering gear shaft (10) fixedly connected with the steering gear shaft.
6. The formula racer manned steering and unmanned steering switching device according to claim 5, wherein the steering actuator is further structured to include a transition gear (7), and the transition gear (7) is in meshing transmission with external teeth of the second gear (6) and the steering gear (9); the transition gear (7) is sleeved on the transition gear shaft (8), and the transition gear shaft (8) is installed in an installation shell (18) which is fixedly connected with the shell of the steering engine (1) and used for covering the steering actuating mechanism.
7. The device for switching the manned steering and the unmanned steering of the formula racer according to claim 5, wherein the manned driving mechanism comprises a steering wheel (15), a steering wheel transmission shaft (16) with one end fixedly connected with the steering wheel (15), and an intermediate transmission shaft (14), and the two ends of the intermediate transmission shaft are respectively connected with the steering gear shaft (10) and the other end of the steering wheel transmission shaft (16) through constant velocity universal joints (13).
8. The switching device of the formula racer with the manned steering and the unmanned steering according to claim 7, characterized in that an angle sensor (17) is arranged on the steering wheel transmission shaft (16), the angle sensor (17) is connected with a controller of the steering engine (1) to adjust the angle of the first gear (12) according to the rotation angle of the steering wheel (15) so as to prevent the first gear (12) and the second gear (6) from being toothed when the manned steering mode is switched to the unmanned steering mode.
9. The switching device for the manned steering and the unmanned steering of the formula racer according to claim 7, wherein the switching device is mounted on a car body, a main controller, a laser radar and a camera device are further arranged on the car body, the laser radar and the camera device detect environment, angle information needing to be steered is transmitted to a controller of the steering engine (1) through the main controller, and therefore steering information is provided for the controller of the steering engine (1) when the unmanned steering is carried out.
10. The device for switching the manned steering and the unmanned steering of the formula racer according to claim 2, wherein the shaft sleeve (5) is formed with a stopper (52) at both ends of the first connecting portion (51) in the axial direction for axially stopping the second connecting portion (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110479769.6A CN113184042B (en) | 2021-04-30 | 2021-04-30 | Unmanned formula car someone turns to auto-change over device that unmanned turned to |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110479769.6A CN113184042B (en) | 2021-04-30 | 2021-04-30 | Unmanned formula car someone turns to auto-change over device that unmanned turned to |
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| CN113184042A true CN113184042A (en) | 2021-07-30 |
| CN113184042B CN113184042B (en) | 2023-06-13 |
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| CN202110479769.6A Active CN113184042B (en) | 2021-04-30 | 2021-04-30 | Unmanned formula car someone turns to auto-change over device that unmanned turned to |
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| CN113184042B (en) | 2023-06-13 |
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