CN113371114A

CN113371114A - Active side-tipping steering device and unmanned tricycle

Info

Publication number: CN113371114A
Application number: CN202110867923.7A
Authority: CN
Inventors: 李成; 肖野原; 杜刚
Original assignee: Shenzhen Lihe Precision Equipment Technology Co ltd
Current assignee: Shenzhen Lihe Precision Equipment Technology Co ltd
Priority date: 2021-07-29
Filing date: 2021-07-29
Publication date: 2021-09-10

Abstract

The invention discloses an active side-tipping steering device and an unmanned tricycle, wherein the active side-tipping steering device comprises a mounting frame, wheels, an active steering mechanism and an active side-tipping mechanism; the active steering mechanism is arranged on the mounting frame and used for driving the wheels to rotate; the active side-tipping mechanism is arranged on the mounting frame and is used for driving the active steering mechanism to tip and further driving one wheel to tip; through setting up the initiative steering mechanism drive wheel and rotating, make the vehicle can initiatively carry out steering control to the wheel, and through setting up the initiative steering mechanism of mechanism drive that heels, can heel the control to the wheel when not influencing the wheel and turn to, when the vehicle is turned, can initiatively carry out the operation of heeling to the vehicle, avoid vehicle speed too fast or vehicle tonnage too big and lead to overturning, the security performance is higher, the regulation that vehicle heeling angle and turned angle can be initiative, the mobility flexibility of vehicle is higher.

Description

Active side-tipping steering device and unmanned tricycle

Technical Field

The invention relates to the technical field of unmanned driving, in particular to an active side-tipping steering device and an unmanned tricycle.

Background

When the vehicle turns or passes through an inclined road surface, the vehicle body needs to be inclined at a certain angle, and the centrifugal force is resisted by the deflection angle, so that the stability of the vehicle body is kept, and the vehicle is prevented from directly rushing out of a curve. At present, a passive roll mechanism and a rotating mechanism are generally adopted, the roll angle and the rotating angle of a vehicle can be passively adjusted, and the mobility and the flexibility of the vehicle are low.

Disclosure of Invention

The invention aims to provide an active roll steering device and an unmanned tricycle, and aims to solve the problems that in the prior art, the roll angle and the rotation angle of a vehicle can only be passively adjusted, and the maneuverability and the flexibility of the vehicle are low.

In a first aspect, an embodiment of the present invention provides an active roll steering apparatus, including:

the mounting frame is a frame which is symmetrical left and right;

two wheels are arranged;

the active steering mechanism is arranged on the mounting rack and used for driving the wheels to rotate;

and the active side-tipping mechanism is arranged on the mounting frame and is used for driving the active steering mechanism to tip, so that one wheel is driven to tip.

In a second aspect, an embodiment of the present invention provides an unmanned tricycle, including an active roll steering device, further including:

a vehicle body frame;

the laser radar is arranged on the vehicle body framework and used for sensing the front obstacle information;

the binocular cameras are arranged on the periphery of the car body framework and used for detecting image information around the car body;

the roll steering motor controller is arranged in the vehicle body framework and is used for controlling the active roll steering device to perform active steering and/or roll maneuvering;

the hub motor is arranged in the vehicle body framework and used for providing power for the tricycle;

the hub motor controller is arranged in the vehicle body framework and used for controlling the hub motor;

the gyroscope is arranged in the vehicle body framework and used for detecting the side-tipping angle of the vehicle body;

the navigation system is arranged in the vehicle body framework and is used for realizing autonomous navigation;

the DBS hydraulic brake is arranged in the vehicle body framework and used for providing brake pressure and performing brake-by-wire;

the DBS controller is arranged in a vehicle body framework and is used for controlling the DBS hydraulic brake;

the power supply module is arranged in the middle of the bottom of the vehicle body framework and used for providing electric energy;

the navigation system, the laser radar, the binocular camera and the gyroscope are respectively connected with an industrial personal computer arranged in the vehicle body framework, the navigation system sends a position signal to the industrial personal computer through a first signal path, the laser radar sends a distance signal between a vehicle body and a road obstacle to the industrial personal computer through a second signal path, the binocular camera sends an image signal of the peripheral side of the vehicle body to the industrial personal computer through a third signal path, and the gyroscope sends a vehicle body side inclination angle signal to the industrial personal computer through a fourth signal path;

the industrial personal computer is connected with a VCU (vertical steering unit) arranged in the vehicle body framework, the VCU is connected with the side-tilting steering motor controller, the hub motor controller and the DBS (direct brake system) controller, and the industrial personal computer controls the side-tilting steering motor controller, the hub motor controller and the DBS controller to respectively drive the active side-tilting steering device, the hub motor and the DBS hydraulic brake to work.

According to the embodiment of the invention, the active steering mechanism is arranged to drive the wheels to rotate, so that the vehicle can actively control the steering of the wheels, and the active roll mechanism is arranged to drive the active steering mechanism, so that the wheels can be controlled to roll while the steering of the wheels is not influenced.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a schematic structural diagram of an active roll steering apparatus according to an embodiment of the present invention;

fig. 2 is another structural schematic diagram of the active roll steering apparatus according to the embodiment of the present invention;

FIG. 3 is a schematic structural diagram of an unmanned tricycle according to an embodiment of the present invention;

FIG. 4 is a schematic block diagram of the connection relationship of the unmanned tricycle provided by the embodiment of the invention;

fig. 5 is a schematic structural diagram of an active roll steering apparatus according to an embodiment of the present invention in a roll state;

fig. 6 is another schematic structural view of the active roll steering apparatus in a roll state according to the embodiment of the present invention;

fig. 7 is a schematic structural diagram of an active roll steering apparatus according to an embodiment of the present invention in a steering state;

fig. 8 is another schematic structural diagram of the active roll steering apparatus provided in the embodiment of the present invention in a steering state;

fig. 9 is a schematic structural diagram of the active roll-steering apparatus according to the embodiment of the present invention in a roll-steering state;

fig. 10 is another schematic structural diagram of the active roll-steering device according to the embodiment of the present invention in a roll-steering state.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

It is also to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the specification of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

Referring to fig. 1-2, an active roll steering apparatus includes a mounting frame 100, two wheels 400, an active steering mechanism and an active roll mechanism.

The mounting frame 100 is a frame which is symmetrical left and right; the active steering mechanism is arranged on the mounting frame 100 and is used for driving the wheels 400 to rotate; the active roll mechanism is disposed on the mounting frame 100, and the active roll mechanism is configured to drive the active steering mechanism to roll, so as to drive one of the wheels 400 to roll.

In this embodiment, the active steering mechanism is arranged to drive the wheels 400 to rotate, so that the vehicle can actively control the steering of the wheels 400, the active steering mechanism is arranged to drive the active steering mechanism, the steering of the wheels 400 can be unaffected, the wheels 400 can be controlled to roll, when the vehicle turns, the vehicle can be actively operated to roll, the vehicle is prevented from being overturned due to too high speed or too large tonnage, the safety performance is higher, the roll angle and the rotation angle of the vehicle can be actively adjusted, and the mobility and the flexibility of the vehicle are higher.

Wherein, the mounting bracket 100 is arranged to be symmetrical left and right, and the same-direction steering operation of the two wheels 400 can be realized only by a group of driving devices.

In one embodiment, the active steering mechanism includes a steering actuator, a steering base 230, a pitman arm 240, a steering link 220, and a steering arm 210.

The steering actuator is arranged in a vertical plane of a left-right symmetrical shaft on the mounting frame 100; one end of the top of the steering base 230 can be horizontally and rotatably connected with the active roll mechanism; the bottom side of the steering rocker arm 240 is rotatably connected with the wheel 400, the top of the steering rocker arm 240 is vertically and rotatably connected with the bottom of the steering base 230: one end of the steering pull rod 220 is connected with the other end of the top of the steering base 230 in a rotating fit manner through a first rotating piece; the other end of the steering linkage 220 is connected with one end of the steering arm 210 through a second rotating component in a rotating fit manner, and the other end of the steering arm 210 is fixed on a flange of the steering actuator.

The number of the steering base 230, the steering rocker 240, the steering rod 220 and the steering arm 210 is two, and the two are symmetrically arranged on the left side and the right side of the steering actuator respectively.

In this embodiment, the steering matching components (i.e. the steering base 230, the steering rocker 240, the steering tie rod 220 and the steering arm 210) symmetrically arranged on the left and right sides of the steering actuator enable the steering actuator to rotate synchronously when the steering actuator rotates, the steering arm 210 rotates synchronously (the two steering arms 210 are located in the same radial direction of the output shaft of the steering actuator and located on the two sides of the output shaft respectively), and the steering base 230 is pulled/pushed to rotate horizontally by the steering tie rod 220, and the steering rocker 240 rotates along with the rotation and drives the corresponding wheel 400 to rotate.

Referring to fig. 7-8, the principle of the active steering mechanism is illustrated by way of an example as follows:

when the vehicle turns right, the output shaft of the steering actuator is controlled to output anticlockwise, the two steering arms 210 synchronously rotate anticlockwise, the steering arm 210 on the right side of the steering actuator pulls the corresponding steering pull rod 220 forwards, so that the steering pull rod 220 drives one end of the corresponding steering base 230 to move forwards, the other end of the steering base 230 can be rotatably connected with the active roll mechanism, the steering base 230 integrally rotates clockwise on the horizontal plane by taking one end connected with the active roll mechanism as an axis, and the corresponding wheel 400 rotates clockwise at this time.

The steering arm 210 on the left side of the steering actuator pushes the corresponding steering linkage 220 backwards, so that the steering linkage 220 drives one end of the corresponding steering base 230 backwards, and the other end of the steering base 230 can be rotatably connected with the active roll mechanism at the moment, so that the steering base 230 integrally rotates clockwise on the horizontal plane by taking the other end as an axis, and the corresponding wheel 400 rotates clockwise at the moment, so that the two wheels 400 can be driven to synchronously rotate by one steering actuator, and the rotating direction and the rotating angle are consistent.

In one embodiment, the first rotating member includes a first ball stud shaft end knuckle bearing and a first ball head that are rotatably coupled, the first ball head is vertically disposed on the top of the steering base 230, and the first ball stud shaft end knuckle bearing is disposed at one end of the steering link 220.

In this embodiment, the rotation is more free through the cooperation rotation that sets up ball stud rod end joint bearing and bulb for the rotation is bigger, and turned angle is bigger, can carry out free rotation in the hemisphere face.

In one embodiment, the second rotating member includes a second ball stud shaft end knuckle bearing and a second ball head that are rotatably coupled, the second ball stud shaft end knuckle bearing being disposed at the other end of the steering link 220, and the second ball head being vertically disposed at one end of the steering arm 210.

In one embodiment, the active roll mechanism includes a roll actuator, a roll swing arm 310, a roll rocker arm 330, and a roll link 320.

The roll actuator is disposed in a right-left axis-of-symmetry vertical plane on the mounting bracket 100; one end of the roll swing arm 310 is connected to the roll actuator; one end of the roll rocker arm 330 is vertically and rotatably connected with the mounting frame 100, and the bottom of the roll rocker arm 330 is connected with the active steering mechanism; one end of the roll link 320 is rotatably connected to the other end of the roll swing arm 310 through a third rotating member, and the other end of the roll link 320 is rotatably connected to the other end of the roll rocker arm 330 through a fourth rotating member.

The roll swing arm 310, the roll rocker arm 330 and the roll link 320 are respectively provided in two numbers, and are respectively symmetrically provided on the left and right sides of the roll actuator.

In this embodiment, the roll-fitting components (i.e., the roll swing arm 310, the roll swing arm 330, and the roll pull rod 320) symmetrically disposed on the left and right sides of the roll actuator allow the roll actuator 310 to rotate synchronously (the two roll swing arms 310 are located on the same radial direction of the output shaft of the roll actuator and located on the two sides of the output shaft, respectively) when the roll actuator rotates, and the roll pull rod 320 pulls/pushes the roll swing arm 330 to rotate vertically, so that the active steering mechanism moves up/down to drive the two wheels 400 to roll.

Referring to fig. 5-6, the principle of the active roll mechanism is illustrated by way of an example as follows:

during right turning, a certain height difference needs to be generated between the left wheel 400 and the right wheel 400, that is, the height of the right wheel 400 is higher than that of the left wheel 400, so that the whole vehicle body inclines to the right side, and thus the centripetal force of turning is overcome, and rollover is avoided.

Similarly, the left side roll swing arm 310 rotates counterclockwise, and at this time, one end of the roll swing arm 310 away from the roll actuator swings downward to push the corresponding roll link 320 downward, so as to drive the roll rocker 330 to rotate downward, further push the active steering mechanism downward, and push the left wheel 400 downward.

Specifically, the connection point between the active steering mechanism and the active roll mechanism is located at the bottom of the roll rocker 330, and one end of the steering base 230 is horizontally and rotatably connected to the bottom of the corresponding roll rocker 330 through a rotating shaft; when the vehicle is tilted, the tilting rocker arm 330 is driven to rotate on a vertical plane, so that the active steering mechanism connected to the tilting rocker arm 330 is driven to swing up and down integrally; when turning, the turning base 230 is driven to rotate around the rotating connection point with the bottom of the tilting rocker arm 330, so as to drive the corresponding wheel 400 connected to the turning rocker arm 240 to turn, thereby realizing the separate operation of tilting and turning without mutual influence, and performing the tilting operation alone, the turning operation alone, or both the turning operation and the turning operation simultaneously, please refer to fig. 9-10.

Specifically, when the tilting rocker arm 330 vertically rotates to drive the active steering mechanism to rotate, the steering rocker arm 240 connected to the active steering mechanism may incline to a certain degree, and the tilting can be adjusted by the rotating shaft between the steering rocker arm 240 and the steering base 230, so that the steering rocker arm 240 is always perpendicular to the horizontal plane.

In one embodiment, the third rotating member is a first ball hinge.

In this embodiment, by providing the spherical hinge, the rotation is more free, and the rotation angle is larger, so that the free rotation can be performed in the hemispherical surface.

In one embodiment, the fourth rotating member is a second ball hinge.

In one embodiment, a shock absorber is disposed between the steering rocker arm 240 and the steering base 230.

In the embodiment, by providing the shock absorber, the steering rocker arm 240 and the steering base 230 have better buffering, and the connection angle between the steering rocker arm and the steering base is adjusted, so that the steering rocker arm is always perpendicular to the ground.

In one embodiment, one end of the roll rocker arm 330 is configured in a downward, two-step shape, including a first step and a second step, the second step connecting the roll link 320.

In this embodiment, by setting one end of the roll rocker arm 330 to a downward two-step shape, the roll link 320 can be set longer, the rotation angle of the roll rocker arm 310 is ensured, and the roll height of the wheel 400 is prevented from being affected because the roll link 320 is too short to cause the roll rocker arm 310 to swing by a larger angle.

Referring to fig. 3, wherein a reference numeral a denotes an active roll steering device, and referring to fig. 4, an unmanned tricycle includes the active roll steering device, and further includes a body frame, a laser radar, a binocular camera, a roll steering motor controller, a wheel hub motor controller, a gyroscope, a navigation system, a DBS hydraulic brake, a DBS controller, and a power module.

The laser radar is arranged on the vehicle body framework and used for sensing the information of the front obstacle; the binocular cameras are arranged on the periphery of the car body framework and used for detecting image information around the car body; the roll steering motor controller is arranged in the vehicle body framework and is used for controlling the active roll steering device to perform active steering and/or roll maneuvering; the hub motor is arranged in the body framework and used for providing power for the tricycle; the hub motor controller is arranged in the vehicle body framework and used for controlling the hub motor; the gyroscope is arranged in the vehicle body framework and used for detecting the roll angle of the vehicle body; the navigation system is arranged in the vehicle body framework and used for realizing autonomous navigation; the DBS hydraulic brake is arranged in the vehicle body framework and used for providing brake pressure and performing brake by wire; the DBS controller is arranged in a vehicle body framework and is used for controlling the DBS hydraulic brake; the power supply module is arranged in the middle of the bottom of the vehicle body framework and used for providing electric energy;

In this embodiment, the positional relationship between the vehicle body frame, the laser radar, the binocular camera, the roll steering motor controller, the in-wheel motor controller, the gyroscope, the navigation system, the DBS hydraulic brake, the DBS controller, and the power module is not specifically limited herein, and may be set according to actual conditions in specific production and life.

The industrial personal computer monitors external data information through a navigation system, a laser radar, a binocular camera and a gyroscope, sends out corresponding instructions according to information change and a preset processing strategy, converts the instructions into corresponding specific instructions through a VCU (virtual central processing unit), sends the specific instructions to the corresponding connection of the motor controller for tilting and steering, the hub motor controller and the DBS (direct source bus) controller, and respectively drives the active tilting and steering device, the hub motor and the DBS hydraulic brake to work through the connection of the motor controller for tilting and steering, the hub motor controller and the DBS controller, so that the aim of unmanned driving is fulfilled.

Specifically, when the active roll steering device is controlled, the roll actuator and the steering actuator are mainly controlled to be in running fit, and the specific principle can be referred to above.

Specifically, a vcu (vehicle control unit) vehicle controller is used as a central control unit of the new energy vehicle, and is the core of the whole control system.

While the invention has been described with reference to specific embodiments, the invention is not limited thereto, and various equivalent modifications and substitutions can be easily made by those skilled in the art within the technical scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. An active roll steering device, comprising:

the mounting frame (100) is a frame which is symmetrical left and right;

two wheels (400) are provided;

the active steering mechanism is arranged on the mounting frame (100) and is used for driving the wheels (400) to rotate;

the active roll mechanism is arranged on the mounting frame (100) and used for driving the active steering mechanism to roll so as to drive one wheel (400) to roll.

2. The active roll steering device of claim 1, wherein the active steering mechanism comprises:

the steering actuator is arranged in a vertical plane of a left-right symmetrical shaft on the mounting rack (100);

a steering base (230), wherein one end of the top of the steering base (230) can be horizontally and rotatably connected with the active roll mechanism;

the bottom side of the steering rocker arm (240) is rotatably connected with the wheel (400), and the top of the steering rocker arm (240) is vertically and rotatably connected with the bottom of the steering base (230);

one end of the steering pull rod (220) is connected with the other end of the top of the steering base (230) in a rotating fit mode through a first rotating piece;

the other end of the steering pull rod (220) is connected with one end of the steering arm (210) in a rotating fit mode through a second rotating piece, and the other end of the steering arm (210) is fixed on a flange of the steering actuator;

the steering base (230), the steering rocker arm (240), the steering pull rod (220) and the steering arm (210) are respectively provided with two steering arms, and the two steering arms are respectively symmetrically arranged on the left side and the right side of the steering actuator.

3. The active roll steering device according to claim 2, characterized in that the first rotating member comprises a first ball stud rod end knuckle bearing and a first ball head that are rotatably coupled, the first ball head being vertically disposed on top of the steering base (230), the first ball stud rod end knuckle bearing being disposed at one end of the steering tie rod (220).

4. The active roll steering device according to claim 2, characterized in that the second rotating member comprises a second ball-bolt-shank-end knuckle bearing and a second ball head that are rotatably fit-connected, the second ball-bolt-shank-end knuckle bearing being provided at the other end of the steering tie rod (220), the second ball head being vertically provided at one end of the steering arm (210).

5. The active roll steering device according to claim 1 or 2, characterized in that the active roll mechanism comprises:

a roll actuator provided in a vertical plane of a left-right axis of symmetry on the mounting bracket (100);

a roll swing arm (310), one end of the roll swing arm (310) being connected to the roll actuator;

a roll rocker arm (330), one end of the roll rocker arm (330) is vertically and rotatably connected with the mounting frame (100), and the bottom of the roll rocker arm (330) is connected with the active steering mechanism;

a roll link (320), one end of the roll link (320) being rotatably connected to the other end of the roll swing arm (310) through a third rotating member, the other end of the roll link (320) being rotatably connected to the other end of the roll rocker (330) through a fourth rotating member;

wherein, the roll swing arm (310), the roll swing arm (330) and the roll pull rod (320) are respectively provided with two, and are respectively symmetrically arranged at the left side and the right side of the roll actuator.

6. The active roll steering device of claim 5, wherein: the third rotating part is a first ball hinge.

7. The active roll steering device of claim 5, wherein: the fourth rotating part is a second ball hinge.

8. The active roll steering device of claim 3, wherein: a shock absorber is arranged between the steering rocker arm (240) and the steering base (230).

9. The active roll steering device of claim 5, wherein: one end of the roll rocker arm (330) is provided in a downward stepped shape including a first step and a second step, the second step connecting the roll link (320).

10. An unmanned tricycle, comprising the active roll steering apparatus of any of claims 1-9, further comprising:

a vehicle body frame;