CN204659716U - Be applicable to the electric control braking differential steering device of automatic driving vehicle - Google Patents
Be applicable to the electric control braking differential steering device of automatic driving vehicle Download PDFInfo
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- CN204659716U CN204659716U CN201520183729.7U CN201520183729U CN204659716U CN 204659716 U CN204659716 U CN 204659716U CN 201520183729 U CN201520183729 U CN 201520183729U CN 204659716 U CN204659716 U CN 204659716U
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- brake
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Abstract
The utility model discloses a kind of electric control braking differential steering device being applicable to automatic driving vehicle, and the power of dynamic assembly, after speed changer, is input in diff; The left and right side of diff is arranged with a wheel group, and all wheels in each wheel group are driven by the left and right output axle shaft of chain sprocket assembly by respective side; Left and right output axle shaft is installed with respectively a brake disc, brake disc matches with corresponding master brake cylinder, and the brake pipe of each master brake cylinder is connected with corresponding braking servo device; Braking motor output shaft in braking servo device is coaxially connected with worm screw, and worm and wheel often engages, and worm gear is solidly set on worm-wheel shaft; Axle tooth on worm-wheel shaft often engages with big gear wheel, and big gear wheel is solidly set on gear wheel shaft, and the axle tooth on gear wheel shaft often engages with tooth bar.The utility model eliminates steering hardware of the prior art and assembly, not only significantly simplifies the structure like this, and is convenient to control.
Description
Technical field
The utility model belongs to steering hardware field, specifically, particularly relates to a kind of electric control braking differential steering device being applicable to automatic driving vehicle.
Background technology
As everyone knows, automobile steering system is the specialized agency for changing or keep vehicle heading, and its effect is in vehicle travel process, according to driving the travel direction needing to change vehicle.At present, the steering mode of known automatic driving vehicle has the following two kinds: the first is for controlling motor driving direction post, and steering column drives wheel flutter to carry out track and turns to, or drives drag-line/pull bar by steering column, drives differential screw and steering device to realize differential steering.Another kind of by control motor-driven hydraulic pumps, the electrodeless double-current box of tricks of band hydrodynamic pressure, realizes differential steering.Above-mentioned two kinds of steering modes all have common shortcoming, that is: complex structure, and the mechanism related to is more, bring so again the problem of following two aspects, and greatly, manufacturing cost is high, poor reliability for first manufacture, assembly difficulty; It two is Dominating paths path lengths, and control difficulty large, control accuracy is poor.
Utility model content
Technical problem to be solved in the utility model is to provide the electric control braking differential steering device that a kind of structure is simple, be convenient to control.
The technical solution of the utility model is as follows: a kind of electric control braking differential steering device being applicable to automatic driving vehicle, it is characterized in that: comprise dynamic assembly (1) and electronic control unit (15), wherein the power of dynamic assembly (1) is after change-speed box (2) speed change, be input in diff (3), this diff has left output axle shaft (3a) and the right output axle shaft (3b) of coaxial setting; The left and right side of described diff (3) is arranged with a wheel group, each wheel group is made up of at least two front and back wheel side by side (4), and all wheels in each wheel group are driven by the described left and right output axle shaft (3a, 3b) of respective side by chain sprocket assembly;
Described left and right output axle shaft (3a, 3b) is installed with respectively a brake disc (5), this brake disc matches with corresponding master brake cylinder (6), and the brake pipe of each master brake cylinder (7) is connected with corresponding braking servo device; Described braking servo device comprises braking motor (8) and tooth bar (14), wherein braking motor (8) is servomotor, its output shaft is coaxially connected with worm screw (9), this worm and wheel (10) often engages, and worm gear is solidly set on worm-wheel shaft (11); Axle tooth on described worm-wheel shaft (11) often engages with big gear wheel (12), this big gear wheel is solidly set on gear wheel shaft (13), and the axle tooth on gear wheel shaft often engages with described tooth bar (14), and braking motor (8), worm screw (9), worm-wheel shaft (11), gear wheel shaft (13) and tooth bar (14) are all supported on housing (15); When described braking motor (8) works, carry-over bar (14) can be with to move linearly, thus compression or loosen the brake oil pipe (7) in pressure oil, and then control described master brake cylinder (6) braking or brake off;
Described electronic control unit (15) is for controlling the mode of operation of the braking motor (8) in two braking servo devices, and vehicle frame is provided with left wheel speed sensors (16), right wheel speed sensors (17), left brake fluid pressure force snesor (18), right brake fluid pressure force snesor (19) and yaw-rate sensor (20), the data feedback that these five sensors collect is to electronic control unit (15).
In above technical scheme, the power of dynamic assembly (1) passes through change-speed box (2) in diff (3), be assigned to the wheel group of respective side again by the left and right output axle shaft of diff (3), and then drive the wheel group of both sides.Simultaneously, this steering hardware does not arrange course changing control mechanism in wheel group, the substitute is and directly brake disc (5) is set on left and right output axle shaft, and controlled by corresponding master brake cylinder (6), and the master brake cylinder of left and right side (6) is controlled by same electronic control unit (15) by the braking servo device of respective side.
Compared with conventional confguration, the utility model eliminates steering hardware of the prior art and assembly, the substitute is and directly brake disc is set on left and right output axle shaft, and controlled by the master brake cylinder of correspondence, and the master brake cylinder of left and right side is controlled by same electronic control unit by the braking servo device of respective side, not only significantly simplify the structure like this, be convenient to manufacture, assemble, and significantly reduce manufacturing cost, and be convenient to control, improve reliability and the precision of control, thus overcome the defect of prior art well.
In the present case, the described wheel group of every side is made up of three wheels (4).
Beneficial effect: the utility model eliminates steering hardware of the prior art and assembly, the substitute is and directly brake disc is set on left and right output axle shaft, and controlled by the master brake cylinder of correspondence, and the master brake cylinder of left and right side is controlled by same electronic control unit by the braking servo device of respective side, not only significantly simplify the structure like this, be convenient to manufacture, assemble, and significantly reduce manufacturing cost, and be convenient to control, thus overcome the defect of prior art well.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model.
Fig. 2 is the schematic diagram of braking servo device in Fig. 1.
Fig. 3 is the cutaway view of Fig. 2.
Fig. 4 is that the A-A of Fig. 2 is to cutaway view Amplified image.
Fig. 5 is the control schematic diagram of electronic control unit in the utility model.
Detailed description of the invention
Below in conjunction with drawings and Examples, the utility model is described in further detail:
As shown in Figures 1 to 4, a kind of electric control braking differential steering device being applicable to automatic driving vehicle, primarily of formations such as dynamic assembly 1, change-speed box 2, diff 3, wheel group, brake disc 5, master brake cylinder 6, brake pipe 7 and braking servo devices.The kind of dynamic assembly 1 can according to actual conditions variation, as electrical motor, diesel engine or spark ignition engine, the power of this dynamic assembly 1, after change-speed box 2 speed change, is input in diff 3, and this diff 3 has the left output axle shaft 3a of coaxial setting and right output axle shaft 3b.In the present case, dynamic assembly 1, change-speed box 2 and diff 3 are assemblied in vehicle frame (not shown in FIG.).
The left side of described diff 3 and right side are arranged with a wheel group, each wheel group is made up of at least two front and back wheel 4 side by side, and all wheels in each wheel group are driven by the left output axle shaft 3a of respective side and right output axle shaft 3b by chain sprocket assembly.In the present case, the wheel group of every side is made up of three wheels 4.Further, while in the middle of the power drive of left output axle shaft 3a and right output axle shaft 3b, a wheel 4 rotates, by wheel 4 synchronous axial system of chain sprocket Component driver front and back.
As shown in Fig. 1 to 5, left output axle shaft 3a and right output axle shaft 3b are installed with a brake disc 5 respectively by spline, this brake disc 5 matches with corresponding master brake cylinder 6, and the brake pipe 7 of each master brake cylinder is connected with corresponding braking servo device.Braking servo device is formed primarily of braking motor 8, worm screw 9, worm gear 10, worm-wheel shaft 11, big gear wheel 12, gear wheel shaft 13, tooth bar 14 and housing 15, wherein braking motor 8 is fixedly mounted on housing 15, worm screw 9, worm gear 10, worm-wheel shaft 11, big gear wheel 12 and gear wheel shaft 13 by bearings on this housing 15, and tooth bar 14 and housing 15 bearing fit.
Braking motor 8 is servomotor, and the output shaft of this braking motor 8 is coaxially connected with worm screw 9, and this worm screw 9 often engages with worm gear 10, and worm gear 10 is solidly set on worm-wheel shaft 11.Axle tooth on worm-wheel shaft 11 often engages with big gear wheel 12, and this big gear wheel 12 is solidly set on gear wheel shaft 13, and the axle tooth on gear wheel shaft 13 often engages with tooth bar 14; When braking motor 8 works, carry-over bar 14 can be with to move linearly, thus compression or loosen the brake oil pipe 7 in pressure oil, and then control master brake cylinder 6 brake or brake off.
Also can find out from Fig. 1 to 5, electronic control unit 15 is for controlling the mode of operation of the braking motor 8 in two braking servo devices, and vehicle frame is provided with left wheel speed sensors 16, right wheel speed sensors 17, left brake fluid pressure force snesor 18, right brake fluid pressure force snesor 19 and yaw-rate sensor 20, the data feedback that these five sensors collect is to electronic control unit 15.Wherein, left wheel speed sensors 16 is for gathering one, centre wheel 4 wheel speed in left side, right wheel speed sensors 17 is for gathering the wheel speed of the wheel 4 in centre on right side, left brake fluid pressure force snesor 18 gathers the brake fluid pressure in the brake pipe 7 in left side, right brake fluid pressure force snesor 19 gathers the brake fluid pressure in the brake pipe 7 on right side, the yaw velocity of yaw-rate sensor 20 collection vehicle.
The foregoing is only preferred embodiment of the present utility model; it is not restriction with the utility model; all do within spirit of the present utility model and principle any amendment, equivalent to replace and improvement etc., all should be included within protection domain of the present utility model.
Claims (2)
1. one kind is applicable to the electric control braking differential steering device of automatic driving vehicle, it is characterized in that: comprise dynamic assembly (1) and electronic control unit (15), wherein the power of dynamic assembly (1) is after change-speed box (2) speed change, be input in diff (3), this diff has left output axle shaft (3a) and the right output axle shaft (3b) of coaxial setting; The left and right side of described diff (3) is arranged with a wheel group, each wheel group is made up of at least two front and back wheel side by side (4), and all wheels in each wheel group are driven by the described left and right output axle shaft (3a, 3b) of respective side by chain sprocket assembly;
Described left and right output axle shaft (3a, 3b) is installed with respectively a brake disc (5), this brake disc matches with corresponding master brake cylinder (6), and the brake pipe of each master brake cylinder (7) is connected with corresponding braking servo device; Described braking servo device comprises braking motor (8) and tooth bar (14), wherein braking motor (8) is servomotor, its output shaft is coaxially connected with worm screw (9), this worm and wheel (10) often engages, and worm gear is solidly set on worm-wheel shaft (11); Axle tooth on described worm-wheel shaft (11) often engages with big gear wheel (12), this big gear wheel is solidly set on gear wheel shaft (13), and the axle tooth on gear wheel shaft often engages with described tooth bar (14), and braking motor (8), worm screw (9), worm-wheel shaft (11), gear wheel shaft (13) and tooth bar (14) are all supported on housing (15); When described braking motor (8) works, carry-over bar (14) can be with to move linearly, thus compression or loosen the brake oil pipe (7) in pressure oil, and then control described master brake cylinder (6) braking or brake off;
Described electronic control unit (15) is for controlling the mode of operation of the braking motor (8) in two braking servo devices, and vehicle frame is provided with left wheel speed sensors (16), right wheel speed sensors (17), left brake fluid pressure force snesor (18), right brake fluid pressure force snesor (19) and yaw-rate sensor (20), the data feedback that these five sensors collect is to electronic control unit (15).
2. be applicable to the electric control braking differential steering device of automatic driving vehicle according to claim 1, it is characterized in that: the described wheel group of every side is made up of three wheels (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520183729.7U CN204659716U (en) | 2015-03-30 | 2015-03-30 | Be applicable to the electric control braking differential steering device of automatic driving vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520183729.7U CN204659716U (en) | 2015-03-30 | 2015-03-30 | Be applicable to the electric control braking differential steering device of automatic driving vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204659716U true CN204659716U (en) | 2015-09-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520183729.7U Expired - Fee Related CN204659716U (en) | 2015-03-30 | 2015-03-30 | Be applicable to the electric control braking differential steering device of automatic driving vehicle |
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| CN (1) | CN204659716U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104802783A (en) * | 2015-03-30 | 2015-07-29 | 中国嘉陵工业股份有限公司 | Electric brake differential steering device applicable to unmanned vehicle |
| CN108639050A (en) * | 2018-05-16 | 2018-10-12 | 杨德兴 | A kind of driverless electric automobile |
| CN109501590A (en) * | 2018-12-12 | 2019-03-22 | 三汽车制造有限公司 | Genesis analysis formula wheel undercarriage and unmanned platform truck |
-
2015
- 2015-03-30 CN CN201520183729.7U patent/CN204659716U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104802783A (en) * | 2015-03-30 | 2015-07-29 | 中国嘉陵工业股份有限公司 | Electric brake differential steering device applicable to unmanned vehicle |
| CN104802783B (en) * | 2015-03-30 | 2017-06-13 | 重庆嘉陵全域机动车辆有限公司 | A kind of electric control braking differential steering device suitable for automatic driving vehicle |
| CN108639050A (en) * | 2018-05-16 | 2018-10-12 | 杨德兴 | A kind of driverless electric automobile |
| CN108639050B (en) * | 2018-05-16 | 2019-11-08 | 王君华 | A kind of driverless electric automobile |
| CN109501590A (en) * | 2018-12-12 | 2019-03-22 | 三汽车制造有限公司 | Genesis analysis formula wheel undercarriage and unmanned platform truck |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C41 | Transfer of patent application or patent right or utility model | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20170105 Address after: 111 No. 402760 Chongqing District of Bishan city streets Yongjia Bi Springs Road Patentee after: Chongqing Jialing global motor vehicle Co. Ltd. Address before: 402760 Yongjia Road, Bishan, No. 111, Chongqing Patentee before: China Jialing Industry Co., Ltd. (Group) |
|
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150923 Termination date: 20180330 |