CN212653446U - Steering device special for automobile driving robot - Google Patents
Steering device special for automobile driving robot Download PDFInfo
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- CN212653446U CN212653446U CN202020789078.7U CN202020789078U CN212653446U CN 212653446 U CN212653446 U CN 212653446U CN 202020789078 U CN202020789078 U CN 202020789078U CN 212653446 U CN212653446 U CN 212653446U
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- driving robot
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- 230000009471 action Effects 0.000 claims description 5
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- 239000002184 metal Substances 0.000 abstract description 4
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- 238000011160 research Methods 0.000 description 3
- 241000282414 Homo sapiens Species 0.000 description 2
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- 238000006073 displacement reaction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000002474 experimental method Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
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- 230000007547 defect Effects 0.000 description 1
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- 238000005265 energy consumption Methods 0.000 description 1
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Abstract
The invention provides a special steering device for an automobile driving robot, which comprises a steering wheel, a steering wheel locking device, a control device, a power device and an adjusting device. The steering wheel locking device comprises a clamping claw, a locking A disc, a locking C disc and a locking D disc, and the control device comprises a handle and a metal plate handle. The power device comprises a motor, a large straight gear, a small straight gear and an angle sensor, and the adjusting device comprises an adjusting groove, a pull rod A, a pull rod B, a tension rod and a pull rod adjusting block. The steering device is fixed on a steering wheel through a clamping jaw and a locking A disc, the clamping jaw is connected with the locking A disc, the locking A disc is connected with a large straight gear through a bolt, the large straight gear is connected with a locking C disc through a bolt, the locking C disc is connected with a locking D disc through a guide wheel and a bolt, and an adjusting device is connected with the locking D disc through a bolt. The invention can ensure that the steering failure of the automobile caused by factors such as jolt and the like can not occur in the driving process; the accuracy and the reliability of the automobile test are improved; the device is suitable for different vehicle types, and the application range is expanded.
Description
Technical Field
The invention belongs to the technical field of robot devices, and particularly relates to a special steering device for an automobile driving robot.
Background
With the development of the automobile industry, the performance requirements of human beings on automobiles are higher and higher, the automobiles can be used under different road, geographical and climatic conditions, the intelligentization degree of the automobiles is higher and higher, and unmanned driving is undoubtedly the necessary way for the automobile industry to go through in the future. Under the premise, the research on the related technology of the driving robot is particularly important for automobile testing. Meanwhile, in the present automobile manufacturing industry, the performance, efficiency, reliability, durability, etc. of automobiles cannot be calculated only, but it must be confirmed through experiments that if the automobiles are put into mass production and universal defects or damages occur due to improper design, process or adopted materials, factories and users suffer great losses, and thus a great deal of experiments are required to perform performance evaluation and design improvement of the automobiles. Noise pollution in the test process and long-time boring mechanical repeated actions can cause certain damage to a driver, so that the driver needs to be replaced by a driving robot for testing, and the driving robot has the characteristics of high control precision, good repeatability, strong durability, long-time high-efficiency work and the like, so that the safety of the driver is ensured; meanwhile, the driving robot actuating mechanism is small and flexible, and can adapt to rapid and nondestructive installation and debugging among different vehicle types; the execution mechanism comprises multi-mechanical-leg/hand coordination control, and the driving level of a skilled driver can be achieved through optimization of an execution algorithm (execution logic between accelerator brake and gear shifting); in addition, a large number of servo motors are used for driving in the automatic driving robot, the automatic driving robot has elasticity and flexibility of human muscles in action, and meanwhile, the accurate positioning of a mechanism can be kept.
Foreign enterprises and research institutions have been deeply ploughed in the field of driving robots for many years, in the last 80 th century, foreign research institutes and companies have developed automatic driving robots for the purposes of protecting the environment and improving the product research and development efficiency, the companies for developing such robots mainly include japanese minishire corporation (ONOSOKKI), AUTOPILOT, american LBECO, and the like, and a plurality of brands and mature products are already available, such as german STAHLE driving robots, abuk d driving robots, and the like, but the key technology is still in the security stage.
The domestic driving robot starts late, no mature brand or product is published, the domestic driving robot mostly adopts a gas-electricity hybrid driving mode and cannot simulate the driving action of a driver, in addition, the mechanical structure of the driving robot, especially a steering mechanism is heavy, the installation and self-learning adjustment time before each test needs more than one hour, and the working efficiency and the reliability of the automatic driving robot are greatly reduced.
The steering mechanism for the current driving robot is mainly divided into a gear rack type and a circulating ball type, common hydraulic power is used as steering power, a slide valve or a rotary valve is used for controlling the power assistance, and the traditional hydraulic power has the following problems:
1. after the design of the selected parameters is finished, the steering power-assisted characteristic is determined, and the control cannot be adjusted again, so that the steering wheel has poor aligning capability and the contradiction between low-speed portability and high-speed steering road feel is difficult to coordinate.
2. The problems of overlarge energy loss and low efficiency exist, and the oil pump is always in operation even if the steering is not performed, so that the energy consumption is increased.
3. The hydraulic system has the problems of oil leakage and maintenance, and can possibly cause pollution to the environment.
The space occupancy rate is large and heavy.
Disclosure of Invention
In view of the above, the present invention is directed to a steering apparatus dedicated for a vehicle driving robot, so as to solve the problems in the background art.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a steering device special for an automatic test driving robot comprises a steering wheel, a steering wheel locking device, a control device, a power device and an adjusting device.
The steering wheel is a steering wheel in an actual vehicle.
The steering wheel locking device comprises a claw, a locking A wheel, a locking C wheel and a locking D wheel.
The control device comprises a handle 1, a handle 2 and a sheet metal handle.
The power device comprises a motor, a large straight gear, a small straight gear and an angle sensor,
the adjusting device comprises an adjusting groove, a pull rod A, a pull rod B, a tension rod and a pull rod adjusting block.
The steering system is fixed on a steering wheel by a clamping jaw and a locking A disc, the clamping jaw is connected with the locking A disc through a positioning pin and a bolt, the locking A disc is connected with a large straight gear through the bolt, the large straight gear is connected with a locking C disc through the bolt, the locking C disc is connected with a locking D disc through a guide wheel and the bolt, and an adjusting device is connected with the locking D disc through the bolt.
Furthermore, a sliding block is arranged below the locking A disk, is wedge-shaped, is provided with a threaded hole above the sliding block, and is fixed with the locking A disk through threads.
Furthermore, a positioning pin is arranged above the locking A disc and plays roles of fixing the clamping jaw and positioning the clamping jaw.
Furthermore, the lower side of the claw is wedge-shaped, is matched with the wedge-shaped sliding block, and is fixed with the locking A disc through the sliding block and the positioning pin after adjustment is completed, so that the stability and the safety in the steering process are improved.
Further, a manual handle 1 and a manual handle 2 are arranged above the locking A disc, so that the installation and debugging process before the automatic driving steering system is started can be facilitated.
Further, be provided with the hole that can install the panel beating handle on the big spur gear, can install the panel beating handle at any time to the use of debug in-process steering system.
Furthermore, three adjusting grooves are formed in the large straight gear, each adjusting groove corresponds to different curvature radiuses from left to right, a clamping bolt is arranged on each adjusting groove, and the steering system can be fixed on steering wheels of different sizes by adjusting the clamping bolts and clamping jaws to adapt to various different vehicle types.
Furthermore, the inner side of the large straight gear is meshed with the outer side of the small straight gear, and the center of the small straight gear is connected with a driving motor.
Furthermore, locking C dish adopts the design that thickness differs, and the place that needs to use threaded connection atress is thicker, and other places are thinner, can alleviate the weight that turns to the device, improves the work efficiency and the security that turns to the device.
Furthermore, a plurality of holes are dug in one circle at the lower sides of the locking disk A, the large straight gear and the locking disk B, so that the weight of the whole set of equipment is reduced to the maximum extent, the energy loss of a system is reduced, and the operation stability is improved.
Further, all set up to the indent in locking C dish upside a week, be provided with four leading wheels on the locking D dish, can make the good connection of locking D dish and locking C dish together and can drive whole steering mechanism's operation through the motor.
Furthermore, a threaded hole is formed in the locking D disc and connected with an adjusting device.
Further, the steering device special for automatic driving of the automobile comprises an angular displacement sensor for obtaining a movement position, and the output of the angular displacement sensor corresponds to the steering action; the steering motor is meshed with the large straight gear through the small straight gear; the clamping jaw is connected with the locking A disc through a positioning pin and a sliding block; the locking D disc is connected with the locking C disc through a guide wheel; a pull rod adjusting block is arranged in the adjusting device and is used for adapting to different distances between the convenient plate and the bottoms of different vehicles.
Compared with the prior art, the special steering device for the automobile driving robot has the following advantages:
the invention can complete the switching between manual driving and automatic driving, has light and flexible integral device, can adapt to various different vehicle types, and improves the transportability of the platform. The mechanism complexity of the automatic steering device is reduced while the steering safety is ensured, the occupied space is small, the operation efficiency is high, and the stability is good
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and, together with the description, serve to explain the invention without limitation. In the drawings:
FIG. 1 is a top view of the steering apparatus of the present invention;
FIG. 2 is a front view of the steering apparatus of the present invention;
FIG. 3 is a top view of the locking A-plate and its associated mechanism;
FIG. 4 is a top plan view of a large spur gear drive and its associated mechanisms;
FIG. 5 is a top view of the locking C-disc and its associated mechanism;
fig. 6 is a top view of a locking D-disc and its associated mechanism.
In the figure: 1-steering wheel, 2-claw, 3-positioning pin, 4-outside guide wheel, 5-tension rod, 6-pull rod A, 7-pull rod adjusting block, 8-pull rod B, 9-handle, 10-sheet metal handle, 11-locking A disk, 12-big straight gear, 13-locking C disk, 14-locking D disk, 15-inside guide wheel, 16-motor fixing ring, 17-motor, 18-angle sensor fixing ring, 19-angle sensor, 20-bolt A, 21-positioning bolt, 22-slider, 23-slider fixing plate, 24-slider fixing plate in threaded connection, 25-locking A disk positioning pin, 26-big straight gear positioning pin, 27-big straight gear locking bolt, 28-adjusting bolt, 29-small motor spur gear, 30-small angle sensor spur gear, 31-locking C disc positioning pin. .
Detailed Description
It should be noted that the embodiments and features of the embodiments of the present invention may be combined with each other without conflict.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings, which are merely for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be construed as limiting the invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the invention, the meaning of "a plurality" is two or more unless otherwise specified.
In the description of the invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted", "connected" and "connected" are to be construed broadly, e.g. as being fixed or detachable or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the creation of the present invention can be understood by those of ordinary skill in the art through specific situations.
The invention will be described in detail with reference to the following embodiments with reference to the attached drawings.
The invention provides a special steering device for an automatic test driving robot.
The steering wheel is the steering wheel 1 in an actual vehicle.
The steering wheel locking device comprises a claw 2, a locking A wheel 11, a locking C wheel 13 and a locking D wheel 14.
The control device comprises a handle 9 and a sheet metal handle 10.
The power device comprises a motor 17, a large straight gear 12, a small straight gear and an angle sensor 19.
The adjusting device comprises an adjusting groove, a pull rod A6, a pull rod B8, a pull rod 5 and a pull rod adjusting block 7.
As shown in fig. 1, three claws 2 are adjustable in position on a lock a plate 11 so as to be engaged with a steering wheel 1 of a vehicle to fix the steering wheel 1.
Two handles 9 are arranged on the locking A disc 11, so that the steering device of the driving robot can be conveniently and manually installed and debugged.
The locking A disk 11 is provided with 6 positioning pins which are respectively inserted into the sliding blocks 22 on the lower sides of the 3 clamping jaws 2, meanwhile, the sliding blocks 22 and the sliding block fixing plates 23 are mutually matched in a wedge shape, and each part of the sliding block fixing plates are provided with two threaded connections 24, so that the sliding block fixing plates 23 can be fixed. The jack catch 2 can radially move by a small distance to adapt to the steering wheels 1 of different vehicle types when the debugging and the installation are ensured, and meanwhile, the jack catch 2 can be fixed after the debugging and the installation are finished, so that the reliability of a steering system is improved.
As shown in fig. 4, three adjusting grooves are arranged on the large spur gear 12, the curvature radius of one end of each adjusting groove is different from that of the other end of each adjusting groove, and the adjusting bolts 28 are arranged on the adjusting grooves, so that the locking radius of the large spur gear 12 is changed by manually rotating the large spur gear 12, and the large spur gear 12 is suitable for steering wheels 1 of different vehicle types.
As shown in fig. 4 and 5, the large spur gear 12 is bolted to the locking C-disc 13, and when the large spur gear rotates, the locking C-disc also rotates.
As shown in fig. 6, 4 guide wheels are arranged on the locking D disc, wherein there are two outer guide wheels 4 and two inner guide wheels 15, a guide rail is arranged on the locking C disc, when the locking C disc rotates, the guide rail and the guide wheels rotate relatively, and the locking D disc is provided with a motor 17 and an angle sensor 19, so that the whole stability is improved.
As shown in fig. 2, a motor fixing ring 16 and an angle sensor fixing ring 18 are respectively arranged above the motor 17 and the angle sensor 19, so that the positions of the motor and the angle sensor can be fixed in the operation process of the driving robot, and the influence caused by the bumping of the vehicle is avoided.
As shown in fig. 4, the motor 17 is connected to a small motor spur gear 29, the motor drives the small motor spur gear to rotate, the small motor spur gear is meshed with the large motor spur gear, so as to drive the large motor spur gear to rotate, and thus the whole steering wheel is driven to rotate, and the purpose of steering is achieved, and the motor is an output device.
As shown in fig. 4, the angle sensor 19 is connected to the small angle sensor spur gear 30, and the small angle sensor spur gear is engaged with the large angle sensor spur gear, so that when a steering occurs, the large angle sensor rotates to drive the large angle sensor spur gear to rotate, and the rotation information is received by the angle sensor and collected to the control device.
As shown in figure 1, the adjusting pull rod 6 is connected with the locking D disc through a bolt, the pull rod 6 and the pull rod 8 are connected with the pull rod adjusting block 7 through threaded holes, and the length of the whole device can be adjusted through the pull rod adjusting block to adapt to different vehicle types.
In conclusion, the special steering device for the automatic test driving robot, provided by the invention, can adapt to different vehicle types by adjusting a mechanical structure, is flexible in arrangement, does not need to additionally install a limiting mechanism, ensures the notification of steering safety, reduces the mechanism complexity of the steering device, occupies a small space, does not influence a cab, improves the transportability of a platform, is convenient to assemble and disassemble, can be integrally disassembled by only assembling and disassembling a screw connected with a clamping jaw and an adjusting screw, and is convenient and fast.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and should not be taken as limiting the invention, so that any modifications, equivalents, improvements and the like, which are within the spirit and principle of the present invention, should be included in the scope of the present invention.
Claims (10)
1. The utility model provides a special steering device of automobile driving robot, includes the steering wheel, its characterized in that: the steering wheel locking device, the power device and the adjusting device are also included;
the steering wheel locking device comprises a claw, a locking A wheel, a locking C wheel and a locking D wheel;
the power device comprises a motor, a large straight gear, a small straight gear and an angle sensor;
the adjusting device comprises an adjusting groove, a pull rod A, a pull rod B, a tension rod and a pull rod adjusting block;
the steering device is fixed on a steering wheel through a clamping jaw and a locking A disc, the clamping jaw is connected with the locking A disc, the locking A disc is connected with a large straight gear, the large straight gear is connected with a locking C disc, the locking C disc is connected with a locking D disc, and an adjusting device is connected with the locking D disc.
2. The steering device special for the automobile driving robot according to claim 1, characterized in that: a sliding block is arranged below the locking A disk, the sliding block is wedge-shaped, a threaded hole is formed in the upper portion of the sliding block, and the sliding block and the locking A disk are fixed together through threads.
3. The steering device special for the automobile driving robot according to claim 2, characterized in that: and a handle is arranged above the locking A disc and is used for the installation and debugging process before the steering device is started.
4. The steering device special for the automobile driving robot according to claim 1, characterized in that: and a positioning pin is arranged above the locking A disc and plays roles of fixing the clamping jaw and positioning the clamping jaw.
5. The steering device special for the automobile driving robot according to claim 1, characterized in that: the large straight gear is meshed with the motor through the small straight gear, and the motor rotates to drive the large straight gear to rotate through the small straight gear, so that the automatic steering function is realized.
6. The steering device special for the automobile driving robot according to claim 1, characterized in that: locking C dish upside a week all sets up to the indent, be provided with four leading wheels on the locking D dish, can make locking D dish link together and can drive whole steering mechanism's operation through the motor with locking C dish.
7. The steering device special for the automobile driving robot according to claim 1, characterized in that: all have the screw hole that is used for connecting on locking A dish, locking C dish, the locking D dish, ensure the operation that whole mechanism can stabilize.
8. The steering device special for the automobile driving robot according to claim 1, characterized in that: the large straight gear is provided with an adjusting groove and an adjusting bolt for adjustment, and the relative diameter of the corresponding circle of the clamping jaw is adjusted to adapt to various vehicle types with different steering wheel sizes.
9. The steering device special for the automobile driving robot according to claim 1, characterized in that: two threaded holes are formed in the front end and the rear end of the pull rod adjusting block and used for connecting the pull rod A and the pull rod B, and the pull rod adjusting block is suitable for different vehicle types through the thread feeding depth.
10. The steering device special for the automobile driving robot according to claim 1, characterized in that: the angle sensor is used to obtain the motion position, and the output of the angle sensor is used for controlling the steering action.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020789078.7U CN212653446U (en) | 2020-05-13 | 2020-05-13 | Steering device special for automobile driving robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020789078.7U CN212653446U (en) | 2020-05-13 | 2020-05-13 | Steering device special for automobile driving robot |
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| Publication Number | Publication Date |
|---|---|
| CN212653446U true CN212653446U (en) | 2021-03-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020789078.7U Expired - Fee Related CN212653446U (en) | 2020-05-13 | 2020-05-13 | Steering device special for automobile driving robot |
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| CN (1) | CN212653446U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111618834A (en) * | 2020-05-13 | 2020-09-04 | 中汽数据(天津)有限公司 | A special steering device for a car driving robot |
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2020
- 2020-05-13 CN CN202020789078.7U patent/CN212653446U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111618834A (en) * | 2020-05-13 | 2020-09-04 | 中汽数据(天津)有限公司 | A special steering device for a car driving robot |
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Granted publication date: 20210305 |