CN207263441U - Driving mechanism and target detection trolley - Google Patents
Driving mechanism and target detection trolley Download PDFInfo
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- CN207263441U CN207263441U CN201721025153.7U CN201721025153U CN207263441U CN 207263441 U CN207263441 U CN 207263441U CN 201721025153 U CN201721025153 U CN 201721025153U CN 207263441 U CN207263441 U CN 207263441U
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- 230000007246 mechanism Effects 0.000 title claims abstract description 90
- 238000001514 detection method Methods 0.000 title claims abstract description 33
- 238000012360 testing method Methods 0.000 claims abstract description 18
- 238000004891 communication Methods 0.000 claims abstract description 4
- 239000000725 suspension Substances 0.000 claims description 10
- 230000003139 buffering effect Effects 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims description 2
- 238000011056 performance test Methods 0.000 abstract description 3
- 230000005540 biological transmission Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000003068 static effect Effects 0.000 description 3
- 230000006870 function Effects 0.000 description 2
- 230000008450 motivation Effects 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
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Abstract
The utility model discloses a kind of driving mechanism and target detection trolley, the driving mechanism of the utility model includes the first driving motor, the second driving motor, driving wheel and control unit, wherein, first driving motor is connected with driving wheel by first pulley driving mechanism and controls driving wheel to rotate at a high speed, and the second driving motor is connected with driving wheel by the second band actuation and controls driving wheel low speed rotation；Control unit with first driving motor, second driving motor communication connect, and according to test it needs to be determined that driving wheel low speed rotation or at a high speed rotate, and control driving wheel follow the first driving motor or second drive motor rotation.The target detection trolley of the utility model includes trolley and the above-mentioned driving mechanism being arranged in trolley.The driving mechanism and target detection trolley of the utility model, solve in the prior art the problem of driving mechanism cannot provide larger moment of torsion or higher speed at the same time, can not meet pilotless automobile performance test target detection trolley demand.
Description
Technical field
The utility model belongs to technical field of vehicle detection, and in particular to a kind of driving mechanism and target detection trolley.
Background technology
During the function of pilotless automobile and performance test, due to the collision performance for pilotless automobile
Test in test, it is necessary to can have the higher speed of service.But target detection trolley from during static startup, it is necessary to gram
Take stiction and be converted into movement by static, when moving of car and the friction on ground is converted into rolling friction, by theoretical power
Learn and understand, stiction is more than rolling friction, due to the target detection trolley weight reasons of itself, overcomes static friction to need to provide
Larger moment of torsion, therefore, then needs to run and need larger moment of torsion at a lower rate when starting target detection trolley.Cause
This, the test of the collision performance of pilotless automobile not only needs the driving mechanism of target detection trolley to be capable of providing low speed, height
Fast two kinds of operating statuses, it is also necessary to which driving mechanism provides larger driving force.
Due to the limitation of test condition and each side factor, target detection trolley is that lithium battery supplies direct current, so driving
Motor can select DC brushless motor and servomotor.
But since DC brushless motor is driven by excitation, the principle of the driving operation of motor, is to pass through Hall
Element come determine rotor-position and give corresponding commutation signal, controlled by the break-make of commutation signal driving power transistor
The operating of motor processed.And power transistor has certain frequency of use scope, thus cannot be unlimited increase commutation frequency, lead
Cause DC brushless motor can not high-speed cruising, although making DC brushless motor to provide larger moment of torsion, brush DC
Motor cannot provide very high speed.
And the operating of servomotor will drive by servo-driver, the needs based on load and high torque output driving
During load, load is bigger, and angular speed is bigger, and required moment of torsion is bigger.But the moment of torsion of servomotor has certain limitations, when super
When crossing peak torque, i.e., it can alarm.And since existing market permanent-magnet alternating current servo motor driver is by current limit, lead
Cause servomotor power generally smaller, so output torque is general also smaller, servomotor is although capable of providing higher speed
Degree, but staring torque is smaller, can not meet driving demand.
In conclusion driving mechanism of the prior art cannot provide larger moment of torsion or higher speed, nothing at the same time
Method meets the function of pilotless automobile and the demand of the target detection trolley of performance test.
Utility model content
The utility model cannot provide larger moment of torsion or higher speed at the same time based on driving mechanism of the prior art
The technical problem of degree, and it is an object of the present invention to provide a kind of driving mechanism, including the first driving motor, the second driving motor, driving wheel and
Control unit, wherein,
The first driving motor is connected with the driving wheel by first pulley driving mechanism and controls the driving wheel
Rotate at a high speed, the second driving motor is connected with the driving wheel by the second band actuation and controls the driving wheel
Low speed rotation；
Described control unit drives motor communication to connect with the described first driving motor, second, and is needed really according to test
The fixed driving wheel low speed rotation rotates at a high speed, and controls the driving wheel to follow the first driving motor or described the
Two driving motor rotations.
Specifically, described control unit by control it is described first driving motor or it is described second driving motor whether work
Make, control the driving wheel to follow the first driving motor or the second driving motor rotation.
Driving mechanism further further includes rack, the first pulley driving mechanism and the second band actuation
It is both secured in the rack, the first driving motor is connected by the first electromagnetic clutch and the first pulley driving mechanism
Connect, the second driving motor is connected by the second electromagnetic clutch with the described second band actuation.
Further, described control unit is by controlling first electromagnetic clutch and second electromagnetic clutch to be
No engagement, controls the driving wheel to follow the first driving motor or the second driving motor rotation.
The rack further includes the spring suspension mechanism for buffering.
The driving wheel be further advanced by live axle respectively with the first pulley driving mechanism and second band
Actuation connects.
Driving mechanism further further includes first pulley strainer and the second belt wheel tensioning mechanism, the first pulley
Strainer connects the live axle and is connected with the first pulley driving mechanism, and second belt wheel tensioning mechanism connects institute
State live axle and the second band actuation.
The purpose of this utility model, which also resides in, provides a kind of target detection trolley, including trolley and is arranged at trolley car
Above-mentioned driving mechanism on body.
The driving mechanism further further includes fixed plate, the driving mechanism by the fixed plate with it is described
Trolley is fixedly connected.
The positive effect of the utility model is：The utility model is by control unit according to test it needs to be determined that driving
Driving wheel low speed rotation rotates at a high speed, and controls driving wheel to follow the first driving motor or the second driving motor rotation, makes drive
Motivation structure and target detection trolley can meet high-speed requirement and provide high torque.When target detection trolley is in test nothing
People is driven during car drives safely in use, can be realized by the switching between the first driving motor and the second driving motor
Unmanned test car high speed, the switching of low speed two states, so as to meet the testing requirement of target detection trolley.Due to this
The driving mechanism and target detection trolley of utility model can meet the driving demand of test by simple mechanical structure, because
This, can reduce testing cost and reduce operation difficulty.
Brief description of the drawings
Fig. 1 is the structure diagram of the utility model driving mechanism；
Fig. 2 is the top view of the utility model driving mechanism；
Fig. 3 is the structure diagram of the first pulley driving mechanism of the utility model driving mechanism；
Fig. 4 is the structure diagram of the spring suspension mechanism of the utility model driving mechanism.
Embodiment
As shown in Figs. 1-2, a kind of driving mechanism that the utility model embodiment provides, including the first driving motor 1, second
Drive motor 2, driving wheel 11 and control unit.Wherein, the first driving motor 1 passes through first pulley driving mechanism 5 and driving wheel
11 connect and control driving wheel 11 to rotate at a high speed, and the second driving motor 2 is connected by the second band actuation 6 with driving wheel 11
And control 11 low speed rotation of driving wheel.Control unit drives the communication of motor 2 to connect with the first driving motor 1, second, and according to survey
Examination is it needs to be determined that 11 low speed rotation of driving wheel or rotation, and control driving wheel 11 to follow the first driving motor 1 or the second at a high speed
Driving motor 2 rotates.
In the utility model embodiment, rack 15 is further included, rack 15 includes the first electric machine support 13 and the second motor
Stent 14, the first driving motor 1 and second drive motor 2 to be respectively correspondingly fixed on the first electric machine support 13 and the second motor branch
On frame 14.As shown in figure 3, since first pulley driving mechanism 5 is similar with the second structure with actuation 6, with
Exemplified by one band actuation 5, illustrate first pulley driving mechanism 5, the second belt wheel driving machine in the utility model embodiment
The concrete structure of structure 6, its main transmission device are synchronous belt, and first pulley driving mechanism 5 and second is with actuation 6
It is fixed in rack 15, the first motor shaft 7 of the first driving motor 1 is connected with the first electromagnetic clutch 3, and passes through the first electricity
Magnet clutch 3 is connected with first pulley driving mechanism 5, the second motor shaft 8 and the second electromagnetic clutch 4 of the second driving motor 2
Connection, and be connected by the second electromagnetic clutch 4 with the second band actuation 6.Driving wheel 11 is divided by live axle 12
It is not connected with the band actuation 6 of first pulley driving mechanism 5 and second, and first pulley is stretched out at the both ends of live axle 12
After the band actuation 6 of driving mechanism 5 and second, it is rotatably connected with rack 15.Rack 15 makes the first driving motor 1, second
Motor 2, the band actuation 6 of first pulley driving mechanism 5, second and driving wheel 11 is driven to form an overall structure.Control
Unit can be arranged in rack 15, can also be arranged at other positions, such as control unit can be target detection trolley
One module of controller.
In order to make the compact-sized of driving mechanism, the first electric machine support 13, the second electric machine support 14, first can be driven
Motor 1 and second drives motor 2 to be arranged in the way of in such as Fig. 1-2, and the first driving motor 1 and second is driven motor 2
Motor shaft is coaxially disposed, it is of course also possible to drive the position of motor 2 to change in the first driving motor 1 and second, as long as can
Meet first driving motor 1 and second driving motor 2 motor shaft be arranged in parallel and target detection trolley needed for high low speed need
Ask.
In the utility model embodiment, first driving motor 1 can be DC brushless motor, for driving mechanism provide compared with
The low speed of service and larger moment of torsion, the second driving motor 2 can be servomotor, and higher operation is provided for driving mechanism
Speed.The first driving motor 1 and second is used to drive motor 2 to drive the method for 11 low speed of driving wheel or high-speed cruising can be with
For：Control unit drives whether motor 2 works by the driving motor 1 or second of control first, and control driving wheel 11 follows first
Driving motor 1 or second drives motor 2 to rotate；Control unit is by controlling the first electromagnetic clutch 3 and the second electromagnetic clutch 4
Whether engage, control driving wheel 11 follows the first driving motor 1 or the second driving motor 2 to rotate.Certainly, in order to more accurate effective
Ground controls the free switching under low speed and fast mode of driving wheel 11, drives motor 2 to drive using the first driving motor 1 and second
The method of 11 low speed of driving wheel or high-speed cruising can also be the combination of above two method.
In order to make driving mechanism be protected during the test, in the utility model embodiment, driving mechanism
Can also include for buffer spring suspension mechanism 16, as shown in figure 4, spring suspension mechanism 16 can include suspended axle 18,
Stop nut 19, spring mountings 20, die springs 21, suspension contiguous block 22 and fixed pin 23, wherein suspension contiguous block 22 will
Spring suspension mechanism 16 is fixed in rack 15, and die springs 21 are fixed on suspension contiguous block 22 by spring mountings 20, are hanged
After hanging scroll 18 sequentially passes through stop nut 19, spring mountings 20, die springs 21 and spring contiguous block 22, pass through fixed pin 23
Fix its position.Wherein, suspended axle 18, stop nut 19, spring mountings 20 and die springs 21 are coaxially disposed.Spring is hung
Mechanism 16 can include two as shown in 1-2 figures, and be symmetrically disposed on 15 both sides of rack, and whole driving mechanism is played
Cushioning effect, protects the parts of driving mechanism from impact injury.Certainly, the quantity of spring suspension mechanism 16 is gone back as needed
Can be more, and the distribution for the impact force being subject to according to driving mechanism is arranged.
In order to improve the reliability of driving mechanism, in the utility model embodiment, driving mechanism can also include first
9 and second belt wheel tensioning mechanism 10 of belt wheel tensioning mechanism, first pulley strainer 9 connects live axle 12 and first pulley is driven
Motivation structure 5 connects, 12 and second band actuation 6 of the second belt wheel tensioning mechanism 10 connection live axle, can be effectively right
The band actuation 6 of first pulley driving mechanism 5 and second is tensioned, and ensures the reliability of its transmission.
Another embodiment of the utility model provides a kind of target detection trolley, including trolley and is arranged at trolley car
Above-mentioned driving mechanism on body.In order to driving mechanism be allow higher to be fixed in trolley, as shown in Fig. 2,
Driving mechanism can also include fixed plate 17, driving mechanism is fixedly connected by fixed plate 17 with trolley.
Driving mechanism provided by the utility model and the driving principle of target detection trolley are：
During original state (testing the inactive state before starting), two motors do not rotate, and two electromagnetic clutch are equal
In discrete state.
When target detection trolley prepares to start, control DC brushless motor rotates forward, and utilizes electromagnet principle,
It is attracted by DC power supply to control 3 power transmission of the first electromagnetic clutch to be powered.Make DC brushless motor to slowly run, and
Driving wheel 11 is driven to rotate by first pulley driving mechanism 5, since first pulley transmission mechanism gearratio is 1, therefore driving wheel
11 moment of torsion is consistent with the output torque of DC brushless motor.If the weight increase of target detection trolley, causes driving wheel 11 to be turned round
Square is more than DC brushless motor output torque, at this point it is possible to the gearratio by increasing first pulley driving mechanism 5, increase is driven
The moment of torsion of driving wheel 11, plays the torsional performance of DC brushless motor to greatest extent.
The calculation formula of gearratio with actuation is as follows：
Wherein, i is the gearratio with actuation；ω1For small pulley, (motor shaft i.e. with the first driving motor 1 connects
Connect and coaxial belt wheel) angular speed；ω2For big belt wheel (be connected with live axle 12 and coaxial belt wheel) angular speed；d1To be small
Belt wheel reference diameter；d2For big belt wheel reference diameter；z1For small band tooth number；z2For the big belt wheel number of teeth；T1Turned round for small pulley
Square；T2For big belt wheel moment of torsion.
Therefore, to increase the moment of torsion of driving wheel 11, that is, increase big belt wheel torque T2, that is, need to increase first pulley driving machine
The gearratio i of structure 5, as long as replacing the belt wheel in first pulley driving mechanism 5, increase big belt wheel number of teeth z2Or reduce small band
Tooth number z1Or both increase big belt wheel number of teeth z2, and reduce small band tooth number z1.
When target detection trolley needs high-speed cruising, make the power-off separation of the first electromagnetic clutch 3, start servomotor simultaneously
And the second electromagnetic clutch 4 is powered and be attracted, control servomotor runs at high speed, and passes through the second band 6 band of actuation
Dynamic driving wheel 11 rotates.If desired the speed of higher, can improve driving by the gearratio of the second belt wheel transmission mechanism of reduction
The rotating speed of wheel 11, plays the speed ability of servomotor to greatest extent.
The calculation formula of gearratio with actuation is as follows：
Wherein, i is the gearratio with actuation；ω1For small pulley, (motor shaft i.e. with the second driving motor 2 connects
Connect and coaxial belt wheel) angular speed；ω2For big belt wheel (be connected with live axle 12 and coaxial belt wheel) angular speed；d1To be small
Belt wheel reference diameter；d2For big belt wheel reference diameter；z1For small band tooth number；z2For the big belt wheel number of teeth；T1Turned round for small pulley
Square；T2For big belt wheel moment of torsion.
Therefore, the rotating speed of driving wheel is improved, that is, increases big belt wheel rotational speed omega2, that is, need to reduce the second belt wheel driving machine
The gearratio i of structure 6, as long as replacing second with the belt wheel in actuation 6, reduces big belt wheel number of teeth z2Or increase small band
Tooth number z1Or both reduce big belt wheel number of teeth z2, and increase small band tooth number z1.
In conclusion driving mechanism provided by the utility model and target detection trolley are in test automatic driving car security row
During sailing, when target detection trolley starts, by the first driving motor driving wheel can be driven to slowly run, there is provided larger
Moment of torsion, target detection trolley is overcome stiction, it is low-speed run state to change its inactive state so that complete low speed fortune
Row test.When target detection trolley needs high-speed cruising, the second driving motor drives driving wheel high-speed rotation, so as to complete height
Fast testing results.Also, driving mechanism provided by the utility model and target detection trolley, can run in low speed and transport at a high speed
Free switching in the state of row.
Claims (9)
- A kind of 1. driving mechanism, it is characterised in that motor, driving wheel and control unit are driven including the first driving motor, second, Wherein,The first driving motor is connected with the driving wheel by first pulley driving mechanism and controls the driving wheel at a high speed Rotation, the second driving motor are connected with the driving wheel by the second band actuation and control the driving wheel low speed Rotation；Described control unit is connected with the described first driving motor, the second driving motor communication, and according to test it needs to be determined that institute State driving wheel low speed rotation or rotate at a high speed, and control the driving wheel to follow the first driving motor or second drive Dynamic motor rotation.
- 2. driving mechanism as claimed in claim 1, it is characterised in that：Described control unit is by controlling the first driving electricity Whether machine or the second driving motor work, and control the driving wheel to follow the first driving motor or second driving Motor rotates.
- 3. driving mechanism as claimed in claim 1, it is characterised in that：Further include rack, the first pulley driving mechanism and The second band actuation is both secured in the rack, and the first driving motor passes through the first electromagnetic clutch and institute The connection of first pulley driving mechanism is stated, the second driving motor passes through the second electromagnetic clutch and the second belt wheel driving machine Structure connects.
- 4. driving mechanism as claimed in claim 3, it is characterised in that：Described control unit by control first electromagnetism from Whether clutch and second electromagnetic clutch engage, and control the driving wheel to follow the first driving motor or described second Drive motor rotation.
- 5. driving mechanism as claimed in claim 3, it is characterised in that：The rack includes the spring suspension machine for buffering Structure.
- 6. driving mechanism as claimed in claim 1, it is characterised in that：The driving wheel is by live axle respectively with described One band actuation is connected with the described second band actuation.
- 7. driving mechanism as claimed in claim 6, it is characterised in that：Further include first pulley strainer and the second belt wheel Tight mechanism, the first pulley strainer connect the live axle and are connected with the first pulley driving mechanism, and described the Two belt wheel tensioning mechanisms connect the live axle and the second band actuation.
- A kind of 8. target detection trolley, it is characterised in that including trolley and be arranged in trolley such as claim Driving mechanism any one of 1-7.
- 9. target detection trolley as claimed in claim 8, it is characterised in that：The driving mechanism further includes fixed plate, institute Driving mechanism is stated to be fixedly connected with the trolley by the fixed plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721025153.7U CN207263441U (en) | 2017-08-16 | 2017-08-16 | Driving mechanism and target detection trolley |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721025153.7U CN207263441U (en) | 2017-08-16 | 2017-08-16 | Driving mechanism and target detection trolley |
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| Publication Number | Publication Date |
|---|---|
| CN207263441U true CN207263441U (en) | 2018-04-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721025153.7U Expired - Fee Related CN207263441U (en) | 2017-08-16 | 2017-08-16 | Driving mechanism and target detection trolley |
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| Country | Link |
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| CN (1) | CN207263441U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107389360A (en) * | 2017-08-16 | 2017-11-24 | 合肥中导机器人科技有限公司 | Drive mechanism and target detection dolly |
-
2017
- 2017-08-16 CN CN201721025153.7U patent/CN207263441U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107389360A (en) * | 2017-08-16 | 2017-11-24 | 合肥中导机器人科技有限公司 | Drive mechanism and target detection dolly |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180420 |