CN206171556U - Unmanned vehicle's a steering system - Google Patents
Unmanned vehicle's a steering system Download PDFInfo
- Publication number
- CN206171556U CN206171556U CN201621168252.6U CN201621168252U CN206171556U CN 206171556 U CN206171556 U CN 206171556U CN 201621168252 U CN201621168252 U CN 201621168252U CN 206171556 U CN206171556 U CN 206171556U
- Authority
- CN
- China
- Prior art keywords
- steering
- unmanned vehicle
- output shaft
- clutch
- motor
- Prior art date
- 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.)
- Expired - Fee Related
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Abstract
The utility model discloses an unmanned vehicle's a steering system, including PLC controller (1), EPS controller (2), torsion bar (3), speed sensor (5), turning to motor (6), clutch (7), output shaft (8), actuator (9), steering spindle (10), steering gear (11) and drag link (12), nobody turns to to have realized accurate automation. In addition, change angular encoder through addding, detect the pivoted angle, feed back to PLC and go to compare, judge, judge when turning to angle big or small more accurately, can also the manual work turn to in case of necessity, machinery safeties guarantee entire system safety, turning to the motor and fixing on the frame front panel supports, adoption maximum output current is 65A or 35A's motor, has optimized system architecture and performance, can drive whole unmanned vehicle a steering system steady operation.
Description
Technical field
This utility model is related to a kind of steering of unmanned vehicle, belongs to unmanned vehicle auto-steering field.
Background technology
In general, in traditional steering and servo steering system, command source both is from driver, by direction
Disk control turns to orientation and corner size.So one distinct issues of pilot steering are easily absent-minded when driving, so that
Steering wheel control is inaccurate, causes security incident.According to statistics, the absent-minded traffic accident for causing of driving is accounted in annual vehicle accident
25%, the death toll for causing accounts for toll on traffic 16%, these be all need to improve where.With modern technologies
Progressive, pilotless automobile is of increasing concern, and vehicle automatic steering system is without the need for pilot steering, it is possible to achieve intelligence changes vapour
The travel direction of car, is an indispensable part for pilotless automobile, and how control realization is accurately turned to and accurate
Corner size be still there are currently a need to improve where.
Utility model content
The purpose of this utility model is, there is provided a kind of steering of unmanned vehicle, it can solve to be deposited in current techniques
Problem, realize that accurately automatically unmanned vehicle is turned to.
To solve above-mentioned technical problem, this utility model is adopted the following technical scheme that：A kind of steering of unmanned vehicle,
Including PLC, EPS controllers, torque arm, vehicle speed sensor, steer motor, clutch, output shaft, driver, steering
Axle, tooth sector and drag link, the EPS controllers connect respectively PLC, vehicle speed sensor, steer motor and clutch
Device, the steer motor, clutch, output shaft, driver, steering spindle, tooth sector, drag link and vehicle bridge are sequentially connected, institute
State torque arm connection output shaft.
In a kind of steering of aforesaid unmanned vehicle, also including angle-position encoder, the angle-position encoder is located at vehicle bridge
On upper or output shaft, angle-position encoder connection PLC, the angle that car load is rotated when being mainly used to detect unmanned control,
PLC is fed back to, and the angular signal for sending is compared, such that it is able to more accurately judge the size of steering angle.
In a kind of steering of aforesaid unmanned vehicle, also including steering wheel and input shaft, the input shaft closure
Disk and torque arm, such that it is able to can also manually turn to if necessary.
Preferably, also including torque sensor, the torque sensor is located on torque arm, torque sensor connection EPS
Controller, during so as to artificial control direction disk, can accurately detect the angle that steering wheel is rotated with driven input shaft, so as to signal
EPS controllers are inputed to, controlled motor is gone to perform by the angle that people wants, reduce people's steering wheel rotation and drive needed for car load steering
Power.
In a kind of steering of aforesaid unmanned vehicle, also including mechanical safety, the mechanical safety connection
EPS controllers, so as to ensure whole system safety.
In a kind of steering of aforesaid unmanned vehicle, the steer motor is fixed on vehicle frame front panel and supports, and adopts
Maximum output current is the motor of 65A or 35A, so as to optimize system structure and performance, whole unmanned vehicle can be driven to turn to
System stable operation.
Compared with prior art, this utility model is by using including PLC, EPS controllers, torque arm, speed
Sensor, steer motor, clutch, output shaft, driver, steering spindle, tooth sector and drag link, the EPS controllers point
Not Lian Jie PLC, vehicle speed sensor, steer motor and clutch, the steer motor, clutch, output shaft, transmission
Device, steering spindle, tooth sector, drag link and vehicle bridge are sequentially connected, and the torque arm connects output shaft, so as to realize it is accurate from
Dynamic unmanned steering.Additionally, by setting up angle-position encoder, detecting the angle for rotating, feed back to PLC and go to compare, judge,
Judge more accurate during the size of steering angle；Can also manually turn to if necessary；The torque sensor is located on torque arm, connection
EPS controllers, reduce the power needed for people's steering wheel rotation drives car load to turn to；Mechanical safety ensures whole system safety；
Steer motor be fixed on vehicle frame front panel support on, adopt maximum output current for 65A or 35A motor, optimize system tie
Structure and performance, can drive whole unmanned vehicle steering stable operation.
Description of the drawings
Fig. 1 is a kind of mechanical part structure connection diagram of embodiment of the present utility model；
Fig. 2 is a kind of connection signal block diagram of the part-structure of embodiment of the present utility model.
Reference：1-PLC controllers, 2-EPS controllers, 3- torque arms, 4- torque sensors, 5- vehicle speed sensor,
6- steer motor, 7- clutches, 8- output shafts, 9- drivers, 10- steering spindles, 11- tooth sectors, 12- drag links, 13- cars
Bridge, 14- angle-position encoders, 15- steering wheels, 16- input shafts, 17- mechanical safeties.
This utility model is further described with reference to the accompanying drawings and detailed description.
Specific embodiment
Embodiment of the present utility model 1：A kind of steering of unmanned vehicle, as depicted in figs. 1 and 2, including PLC
1st, EPS controllers 2, torque arm 3, vehicle speed sensor 5, steer motor 6, clutch 7, output shaft 8, driver 9, steering spindle 10,
Tooth sector 11 and drag link 12, the EPS controllers 2 connect respectively PLC 1, vehicle speed sensor 5, the and of steer motor 6
Clutch 7, the steer motor 6, clutch 7, output shaft 8, driver 9, steering spindle 10, tooth sector 11, the and of drag link 12
Vehicle bridge 13 is sequentially connected, the connection output shaft 8 of the torque arm 3.Also include angle-position encoder 14, the angle-position encoder is located at car
On bridge 13 or on output shaft 8, the connection PLC 1 of angle-position encoder 14.Also include steering wheel 15 and input shaft 16, it is described
The closure disk 15 of input shaft 16 and torque arm 3.Also include torque sensor 4, the torque sensor 4 is located on torque arm 3,
The connection EPS of torque sensor 4 controllers 2.Also include mechanical safety 17, the connection EPS controls of the mechanical safety 17
Device 2.The steer motor 6 be fixed on vehicle frame front panel support on, adopt maximum output current for 65A or 35A motor.
Embodiment of the present utility model 2：A kind of steering of unmanned vehicle, including PLC 1, EPS controllers 2, torsion
Power bar 3, vehicle speed sensor 5, steer motor 6, clutch 7, output shaft 8, driver 9, steering spindle 10, tooth sector 11 and horizontal drawing
Bar 12, the EPS controllers 2 connect respectively PLC 1, the steer motor 6 of vehicle speed sensor 5 and clutch 7, the steering
Motor 6, clutch 7, output shaft 8, driver 9, steering spindle 10, tooth sector 11, drag link 12 and vehicle bridge 13 are sequentially connected, institute
State the connection output shaft 8 of torque arm 3.
Embodiment of the present utility model 3：A kind of steering of unmanned vehicle, including PLC 1, EPS controllers 2, torsion
Power bar 3, vehicle speed sensor 5, steer motor 6, clutch 7, output shaft 8, driver 9, steering spindle 10, tooth sector 11 and horizontal drawing
Bar 12, the EPS controllers 2 connect respectively PLC 1, vehicle speed sensor 5, steer motor 6 and clutch 7, the steering
Motor 6, clutch 7, output shaft 8, driver 9, steering spindle 10, tooth sector 11, drag link 12 and vehicle bridge 13 are sequentially connected, institute
State the connection output shaft 8 of torque arm 3.Also include angle-position encoder 14, the angle-position encoder is located in vehicle bridge 13 or output shaft 8
On, the connection PLC 1 of angle-position encoder 14.
Embodiment of the present utility model 4：A kind of steering of unmanned vehicle, including PLC 1, EPS controllers 2, torsion
Power bar 3, vehicle speed sensor 5, steer motor 6, clutch 7, output shaft 8, driver 9, steering spindle 10, tooth sector 11 and horizontal drawing
Bar 12 and vehicle bridge 13, the EPS controllers 2 connect respectively PLC 1, vehicle speed sensor 5, steer motor 6 and clutch 7,
The steer motor 6, clutch 7, output shaft 8, driver 9, steering spindle 10, tooth sector 11, drag link 12 and vehicle bridge 13 according to
It is secondary to be connected, the connection output shaft 8 of the torque arm 3.Also include steering wheel 15 and input shaft 16, the closure disk of the input shaft 16
15 and torque arm 3.Also include torque sensor 4, the torque sensor 4 is located on torque arm 3, the connection EPS of torque sensor 4
Controller 2.
Embodiment of the present utility model 5：A kind of steering of unmanned vehicle, including PLC 1, EPS controllers 2, torsion
Power bar 3, vehicle speed sensor 5, steer motor 6, clutch 7, output shaft 8, driver 9, steering spindle 10, tooth sector 11 and horizontal drawing
Bar 12, the EPS controllers 2 connect respectively PLC 1, vehicle speed sensor 5, steer motor 6 and clutch 7, the steering
Motor 6, clutch 7, output shaft 8, driver 9, steering spindle 10, tooth sector 11, drag link 12 and vehicle bridge 13 are sequentially connected, institute
State the connection output shaft 8 of torque arm 3.Also include mechanical safety 17, the connection EPS of the mechanical safety 17 controllers 2.
Embodiment of the present utility model 6：A kind of steering of unmanned vehicle, including PLC 1, EPS controllers 2, torsion
Power bar 3, vehicle speed sensor 5, steer motor 6, clutch 7, output shaft 8, driver 9, steering spindle 10, tooth sector 11 and horizontal drawing
Bar 12, the EPS controllers 2 connect respectively PLC 1, vehicle speed sensor 5, steer motor 6 and clutch 7, the steering
Motor 6, clutch 7, output shaft 8, driver 9, steering spindle 10, tooth sector 11, drag link 12 and vehicle bridge 13 are sequentially connected, institute
State the connection output shaft 8 of torque arm 3.The steer motor 6 be fixed on vehicle frame front panel support on, adopt maximum output current for
The motor of 65A or 35A.
Embodiment of the present utility model 7：A kind of steering of unmanned vehicle, including PLC 1, EPS controllers 2, torsion
Power bar 3, vehicle speed sensor 5, steer motor 6, clutch 7, output shaft 8, driver 9, steering spindle 10, tooth sector 11 and horizontal drawing
Bar 12, the EPS controllers 2 connect respectively PLC 1, vehicle speed sensor 5, steer motor 6 and clutch 7, the steering
Motor 6, clutch 7, output shaft 8, driver 9, steering spindle 10, tooth sector 11, drag link 12 and vehicle bridge 13 are sequentially connected, institute
State the connection output shaft 8 of torque arm 3.Also include angle-position encoder 14, the angle-position encoder is located in vehicle bridge 13 or output shaft 8
On, the connection PLC 1 of angle-position encoder 14.Also include steering wheel 15 and input shaft 16, the closure disk of the input shaft 16
15 and torque arm 3.Also include torque sensor 4, the torque sensor 4 is located on torque arm 3, the connection EPS of torque sensor 4
Controller 2.
A kind of operation principle of embodiment of the present utility model：PLC 1 according to pre-setting or real-time signal,
Control EPS controllers 2, collection vehicle speed sensor 5 of EPS controllers 2 (sensing speed), the control output power steering of steer motor 6
Torque, by the conduction of clutch 7, output shaft 8, driver 9, steering spindle 10, tooth sector 11 and drag link 12 so that vehicle bridge
13 turn to, and are arranged in output shaft 8 or vehicle bridge 13 and judge that the angle-position encoder 14 of corner size feeds back signal to PLC 1,
Compare with the angular signal for sending, such that it is able to more accurately judge the size of steering angle.Steering wheel 15 and input shaft 16
It is the optional supplement as pilot steering if necessary.Torque sensor 4 is located on torque arm 3, in artificial control direction disk,
The angle that detection steering wheel 15 is rotated with driven input shaft 16, so as to, to EPS controllers 2, controlled motor is thought by people signal input
The angle wanted goes to perform, and reduces the power needed for people's steering wheel rotation drives car load to turn to, and mechanical safety 17 has ensured nobody
The safety of car.
Claims (6)
1. a kind of steering of unmanned vehicle, it is characterised in that including PLC (1), EPS controllers (2), torque arm
(3), vehicle speed sensor (5), steer motor (6), clutch (7), output shaft (8), driver (9), steering spindle (10), steering tooth
Wheel (11) and drag link (12), the EPS controllers (2) connect respectively PLC (1), vehicle speed sensor (5), turn to electricity
Machine (6) and clutch (7), the steer motor (6), clutch (7), output shaft (8), driver (9), steering spindle (10), turn
It is sequentially connected to gear (11), drag link (12), the drag link (12) is connected with vehicle bridge (13), torque arm (3) connection
Output shaft (8).
2. the steering of a kind of unmanned vehicle according to claim 1, it is characterised in that also including angle-position encoder
(14), the angle-position encoder (14) is in vehicle bridge (13) or on output shaft (8), angle-position encoder (14) connection PLC controls
Device (1) processed.
3. the steering of a kind of unmanned vehicle according to claim 1, it is characterised in that also including steering wheel (15) and defeated
Enter axle (16), the input shaft (16) closure disk (15) and torque arm (3).
4. the steering of a kind of unmanned vehicle according to claim 3, it is characterised in that also including torque sensor (4),
The torque sensor (4) is located on torque arm (3), torque sensor (4) connection EPS controllers (2).
5. the steering of a kind of unmanned vehicle according to claim 1, it is characterised in that also including mechanical safety
(17), the mechanical safety (17) connection EPS controllers (2).
6. the steering of a kind of unmanned vehicle according to claim 1, it is characterised in that the steer motor (6) is fixed
Vehicle frame front panel support on, adopt maximum output current for 65A or 35A motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621168252.6U CN206171556U (en) | 2016-11-02 | 2016-11-02 | Unmanned vehicle's a steering system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621168252.6U CN206171556U (en) | 2016-11-02 | 2016-11-02 | Unmanned vehicle's a steering system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206171556U true CN206171556U (en) | 2017-05-17 |
Family
ID=58679887
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621168252.6U Expired - Fee Related CN206171556U (en) | 2016-11-02 | 2016-11-02 | Unmanned vehicle's a steering system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206171556U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107479550A (en) * | 2017-08-15 | 2017-12-15 | 深圳市招科智控科技有限公司 | It is a kind of it is unmanned in auto-steering method and system |
| CN107600062A (en) * | 2017-09-06 | 2018-01-19 | 深圳市招科智控科技有限公司 | A kind of whole-control system and method |
| CN109878569A (en) * | 2019-04-10 | 2019-06-14 | 中广核贝谷科技有限公司 | One kind being used for vehicle-mounted mobile deviation correcting device |
-
2016
- 2016-11-02 CN CN201621168252.6U patent/CN206171556U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107479550A (en) * | 2017-08-15 | 2017-12-15 | 深圳市招科智控科技有限公司 | It is a kind of it is unmanned in auto-steering method and system |
| CN107600062A (en) * | 2017-09-06 | 2018-01-19 | 深圳市招科智控科技有限公司 | A kind of whole-control system and method |
| CN109878569A (en) * | 2019-04-10 | 2019-06-14 | 中广核贝谷科技有限公司 | One kind being used for vehicle-mounted mobile deviation correcting device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| 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: 20170517 Termination date: 20211102 |