CN213874972U

CN213874972U - Steering driving robot for unmanned driving test

Info

Publication number: CN213874972U
Application number: CN202022879205.5U
Authority: CN
Inventors: 吕济明; 李晓英; 董立波; 白光磊; 邱宇
Original assignee: Shanghai Digauto Automobile Technology Co ltd
Current assignee: Shanghai Digauto Automobile Technology Co ltd
Priority date: 2020-12-03
Filing date: 2020-12-03
Publication date: 2021-08-03
Anticipated expiration: 2030-12-03

Abstract

The utility model discloses a turn to driving robot for unmanned driving test, include: the steering robot comprises a steering wheel fixing assembly, a split gear ring assembly, a driving assembly and a limiting fixing assembly, wherein the limiting fixing assembly comprises a vertical support column, a transverse support column, a first fixing frame and a second fixing frame, and the transverse support column is installed on the surface of the vertical support column through the first fixing frame. The utility model discloses turn to driving robot can replace the driver completely, and it is fixed in on being surveyed vehicle driving position, and the vehicle of driving accomplishes the relevant action of traveling that the experiment needs, realizes the accurate driving control to the vehicle, has avoided human factor's influence completely, has improved the uniformity and the accuracy of each operating mode driving action of experiment, and the relevant data of acquireing is more objective more accurate, has also reduced unmanned driving test work's risk factor.

Description

Steering driving robot for unmanned driving test

Technical Field

The utility model relates to a driving robot technical field, more specifically are a steering driving robot for unmanned driving test.

Background

The research and development of the ADAS of the intelligent automobile belong to the strategic development direction of each automobile enterprise. With falling to the ground of various technologies and laws and regulations matched with the intelligent automobile, the mass production of the intelligent automobile with the ADAS function (hereinafter referred to as the intelligent automobile for short) means daily wait, and the intelligent automobile gradually enters the daily life of people, so that the intelligent traffic with high safety and without manual intervention is finally realized.

In the research and development stage of the intelligent automobile, related unmanned tests are very necessary, so that a real traffic scene needs to be built in a closed test field by using various test tools and related traffic simulation bodies, and then the tested automobile is driven to complete driving actions required by the unmanned tests so as to obtain a large amount of test data for research and development.

However, when a person operates and drives a tested vehicle to perform a corresponding steering action test, the accurate control of a steering angle and the uniform control of steering speed cannot be achieved, and the relative operation habits of different persons and the stress responses of the same person in different time periods are different, so that a lot of uncertain human factors are mixed in the obtained experimental data, and the data of the driving action of the vehicle presents discreteness and irregularity. The accuracy and consistency of the data are not high, the difficulty of extracting effective experimental data from the data is greatly increased, and the workload of screening and analyzing a plurality of data is increased, so that the research and development progress is slowed down; and because personnel are added, the risk coefficient of the experimental process is improved a lot correspondingly.

In consideration of the safety of the test work, the accuracy consistency of the actions of all working conditions and other factors, the unmanned test is not suitable for acquiring relevant data by adopting a mode of operating the tested vehicle by personnel. Therefore, a new technical solution needs to be provided.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a turn to driving robot for unmanned test has solved the security of considering test work among the prior art to and the accuracy uniformity scheduling factor of each operating mode action, and the unsuitable personnel operation of adopting of unmanned test obtains the problem of relevant data by the mode of test vehicle.

In order to achieve the above object, the utility model provides a following technical scheme: a steering drive robot for unmanned testing, comprising: steering robot, steering robot installation and the steering wheel department of vehicle, steering robot comprises steering wheel fixed assembly, components of a whole that can function independently ring gear assembly, drive assembly and restriction fixed assembly, the fixed assembly of restriction includes vertical support post, horizontal support post, first mount and second mount, horizontal support post is installed in the surface of vertical support post through first mount, the left side at horizontal support post is installed to the second mount, the inside of second mount is equipped with linear bearing, steering wheel fixed assembly installs on components of a whole that can function independently ring gear assembly, components of a whole that can function independently ring gear assembly includes first ring gear and second ring gear and first ring gear and second ring gear constitution complete ring form structure, steering wheel fixed assembly includes the fixing base, the internally mounted that the inside of fixing base was equipped with spout and spout has the screw rod, one end of the screw rod extends to the outside of the fixed seat and is provided with a knob, the surface of the screw rod is provided with a steering wheel claw which is in threaded connection with the screw rod, the lower part of the split gear ring assembly is provided with a driving assembly which comprises a driving motor, the upper part of the driving motor is provided with a torque sensor, the upper part of the torque sensor is provided with a mounting plate, the power output end of the driving motor extends to the upper end of the mounting plate and is provided with a driving gear, the driving gear is meshed with the internal latch of the split gear ring assembly, the two sides of the driving gear are provided with rollers, the other side of the driving gear is provided with a driving grooved wheel, the rollers and the driving grooved wheel are arranged in a triangle structure, the lower part of mounting panel is equipped with the restriction connecting rod and restricts the connecting rod and be connected with the linear bearing of the inside of second mount, components of a whole that can function independently ring gear assembly is located between drive sheave and the drive gear.

As an embodiment of the present invention, the upper and lower ends of the vertical support columns are both provided with a height adjusting device and a threaded connection between the height adjusting device and the vertical support columns.

As a preferred embodiment of the present invention, the steering wheel fixing assembly is provided with four groups and arranged in a cross structure.

As an embodiment of the present invention, the side of the steering wheel jaw is a semi-arc structure and is attached to the steering wheel jaw and the steering wheel.

As a preferred embodiment of the utility model, the both ends that the both ends of first ring gear were equipped with connecting block and second ring gear are equipped with the draw-in groove, mutual gomphosis between connecting block and the draw-in groove, the inside of draw-in groove is equipped with fixed pin and runs through fixed connection between draw-in groove and the connecting block.

As a preferred embodiment of the present invention, a rod sensor is disposed at a junction between the limiting connection rod and the mounting plate.

Compared with the prior art, the beneficial effects of the utility model are as follows:

the utility model discloses turn to driving robot can replace the driver completely, and it is fixed in on the vehicle driving position of being surveyed, and the vehicle of driving accomplishes the relevant action of traveling that the experiment needs, realizes the accurate driving control to the vehicle, has avoided the influence of human factor completely, has improved the uniformity and the accuracy of each operating mode driving action of experiment, and the relevant data of acquireing are more objective more accurate, has also reduced the risk factor of unmanned driving test work; the steering robot mainly comprises a driving assembly, a split gear ring assembly, a steering wheel jaw assembly and a limiting and fixing assembly; the four steering wheel fixing assemblies are fixed on the split gear ring assembly, the steering wheel is tightly clamped through knob adjustment, and the driving assembly provides power to drive the split gear ring assembly to rotate so as to drive the steering wheel to rotate; the limiting and fixing assembly consists of a vertical supporting column, a transverse supporting column, a first fixing frame and a second fixing frame, has a plurality of adjustable freedom degrees and can be locked, and a limiting connecting rod on the driving assembly is inserted into a linear bearing on the second fixing frame of the limiting and fixing assembly, so that the driving assembly can be limited to rotate around a steering wheel, the freedom degrees along the radial direction of the steering wheel can be released, and the locking caused by eccentricity is prevented; the driving assembly is arranged on the split gear ring assembly through a roller and a driving grooved wheel with a guiding function, a servo motor provides driving force, the driving gear is meshed with the first gear ring and the second gear ring to drive the steering wheel to rotate, the force value measured by the rod type sensor is multiplied by the force arm to obtain the driving torque of the steering wheel or the output torque of the driving motor is directly measured by the torque sensor, and an encoder on the servo motor can obtain an angle signal; in order to adapt to the upper and lower mounting modes of the steering wheel, the gear ring adopts a fork structure. The fork structure can ensure that the gear ring is convenient to separate, so that the gear ring is sleeved below the steering wheel, and the integrity of the gear ring after the gear ring is closed again can be ensured. The gear and the gear ring can rotate more than 360 degrees in a matching way without any jamming phenomenon.

Drawings

FIG. 1 is a schematic view of the installation structure of the present invention;

FIG. 2 is a schematic view of the overall structure of the present invention;

FIG. 3 is a schematic view of the driving assembly of the present invention;

FIG. 4 is a schematic view of the steering wheel fixing assembly of the present invention;

fig. 5 is a schematic view of the split gear ring assembly of the present invention.

In the figure: 1. a steering robot; 2. a vertical support column; 3. a transverse support column; 4. a height adjustment device; 5. a first fixing frame; 6. a second fixing frame; 7. a drive assembly; 8. a split gear ring assembly; 9. a torque sensor; 10. mounting a plate; 11. a restraining connecting rod; 12. a drive sheave; 13. a roller; 14. a drive gear; 15. a fixed seat; 16. a chute; 17. a screw; 18. a knob; 19. a steering wheel jaw; 20. a steering wheel securing assembly; 21. a fixing pin; 22. a card slot; 23. connecting blocks; 24. a first ring gear; 25. a second ring gear; 26. a drive motor; 27. a rod sensor.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1-5, the present invention provides a technical solution: a steering drive robot for unmanned testing, comprising: the steering robot comprises a steering robot 1, wherein the steering robot 1 is installed at a steering wheel of a vehicle, the steering robot 1 comprises a steering wheel fixing assembly 20, a split gear ring assembly 8, a driving assembly 7 and a limiting fixing assembly, the limiting fixing assembly comprises a vertical supporting column 2, a transverse supporting column 3, a first fixing frame 5 and a second fixing frame 6, the transverse supporting column 3 is installed on the surface of the vertical supporting column 2 through the first fixing frame 5, the second fixing frame 6 is installed on the left side of the transverse supporting column 3, a linear bearing is arranged inside the second fixing frame 6, the limiting fixing assembly comprises the vertical supporting column 2, the transverse supporting column 3, the first fixing frame 5 and the second fixing frame 6, has a plurality of freedom degree adjustable functions and can be locked, a limiting connecting rod 11 on the driving assembly 7 is inserted into the linear bearing on the second fixing frame 6 of the limiting fixing assembly, can restrict drive assembly 7 and rotate around the steering wheel, can release again and follow the radial degree of freedom of steering wheel, prevent because of eccentric card is dead, steering wheel fixed assembly 20 installs on components of a whole that can function independently ring gear assembly 8, components of a whole that can function independently ring gear assembly 8 includes first ring gear 24 and second ring gear 25 and first ring gear 24 and second ring gear 25 constitute a complete ring shaped structure, steering wheel fixed assembly 20 includes fixing base 15, the inside of fixing base 15 is equipped with spout 16 and the internally mounted of spout 16 has screw rod 17, the one end of screw rod 17 extends to the fixing base 15 outside and installs knob 18, the surface of screw rod 17 is equipped with steering wheel jack catch 19 and screw rod 17 between threaded connection, steering wheel fixed assembly 20 is fixed in components of a whole that can function independently ring gear assembly 8, through knob 18 regulation chucking steering wheel, provide power by drive assembly 7, thereby it is rotatory to drive the steering wheel that the drive components of a whole that can function independently ring gear assembly 8 is rotatory, the lower part of components of a whole that can function independently ring gear assembly 8 is equipped with drive assembly 7 and drive assembly 7 includes driving motor 26, driving motor 26's upper portion is equipped with torque sensor 9 and torque sensor 9's upper portion is equipped with mounting panel 10, driving motor 26's power take off end extends to the upper end of mounting panel 10 and installs drive gear 14, intermeshing between the inside latch of drive gear 14 and components of a whole that can function independently ring gear assembly 8, the both sides of drive gear 14 are equipped with gyro wheel 13 and the opposite side is equipped with drive sheave 12, be the setting of delta-shaped structure between gyro wheel 13 and the drive sheave 12, the lower part of mounting panel 10 is equipped with restriction connecting rod 11 and restriction connecting rod 11 is connected with the linear bearing of the inside of second mount 6, components of a whole that can function independently ring gear assembly 8 is located between drive sheave 12 and drive gear 14, the driving assembly 7 is mounted on the split gear ring assembly 8 through the roller 13 and the driving grooved wheel 12 with the guiding function, the servo motor provides driving force, the driving gear 14 is meshed with the first gear ring 24 and the second gear ring 25 to drive the steering wheel to rotate, the force value measured by the rod sensor 27 is multiplied by the force arm to obtain the driving torque of the steering wheel or the output torque of the driving motor 26 is directly measured by the torque sensor 9, and an encoder on the servo motor can obtain an angle signal.

Further improved, as shown in fig. 2: the upper and lower both ends of vertical support post 2 all are equipped with height adjusting device 4 and vertical support post 2 between threaded connection, height adjusting device 4 can adjust vertical support post 2's height, conveniently fixes it.

Further improved, as shown in fig. 2: the steering wheel fixing assembly 20 is provided with four groups and is arranged in a cross structure, and the steering wheel fixing assembly 20 in the cross structure enables the steering wheel fixing assembly to be stressed uniformly, so that the stability of steering wheel installation is ensured.

Further improved, as shown in fig. 4: the side of steering wheel jack catch 19 is half arc structure setting and laminates each other between steering wheel jack catch 19 and the steering wheel, adjusts four steering wheel jack catch 19 positions through knob 18 and adapts to different diameter steering wheels.

Further improved, as shown in fig. 4: the both ends that first ring gear 24's both ends were equipped with connecting block 23 and second ring gear 25 are equipped with draw-in groove 22, mutual gomphosis between connecting block 23 and the draw-in groove 22, the inside of draw-in groove 22 is equipped with fixed pin 21 and runs through fixed connection between draw-in groove 22 and the connecting block 23, and in order to adapt to two kinds of mounting means on the steering wheel, fork structure is chooseed for use to the ring gear. The fork structure can ensure that the gear ring can be conveniently separated, so that the gear ring is sleeved below the steering wheel, the integrity of the gear ring can be ensured after the gear ring is closed again, and the gear ring can rotate by more than 360 degrees in a matching manner without any blocking phenomenon.

Further improved, as shown in fig. 3: and a rod type sensor 27 is arranged at the joint of the limiting connecting rod 11 and the mounting plate 10, and the force value measured by the rod type sensor 27 is multiplied by the force arm to obtain the driving torque of the steering wheel.

The utility model discloses turn to driving robot can replace the driver completely, and it is fixed in on the vehicle driving position of being surveyed, and the vehicle of driving accomplishes the relevant action of traveling that the experiment needs, realizes the accurate driving control to the vehicle, has avoided the influence of human factor completely, has improved the uniformity and the accuracy of each operating mode driving action of experiment, and the relevant data of acquireing are more objective more accurate, has also reduced the risk factor of unmanned driving test work; the steering robot 1 mainly comprises a driving assembly 7, a split gear ring assembly 8, a steering wheel jaw 19 assembly and a limiting and fixing assembly; the four steering wheel fixing assemblies 20 are fixed on the split gear ring assembly 8, the steering wheel is tightly clamped through adjustment of the knob 18, the driving assembly 7 provides power to drive the split gear ring assembly 8 to rotate, and therefore the steering wheel is driven to rotate; the limiting and fixing assembly consists of a vertical supporting column 2, a transverse supporting column 3, a first fixing frame 5 and a second fixing frame 6, has a plurality of functions of adjusting the degree of freedom and can be locked, and a limiting connecting rod 11 on the driving assembly 7 is inserted into a linear bearing on the second fixing frame 6 of the limiting and fixing assembly, so that the driving assembly 7 can be limited to rotate around a steering wheel, the degree of freedom in the radial direction of the steering wheel can be released, and the phenomenon of clamping due to eccentricity is prevented; the driving assembly 7 is arranged on the split gear ring assembly 8 through a roller 13 and a driving grooved wheel 12 with a guiding function, a servo motor provides driving force, the driving gear 14 is meshed with the first gear ring 24 and the second gear ring 25 to drive a steering wheel to rotate, the force value measured by the rod sensor 27 is multiplied by a force arm to obtain driving torque of the steering wheel or the output torque of the driving motor 26 is directly measured by the torque sensor 9, and an encoder on the servo motor can obtain an angle signal; in order to adapt to the upper and lower mounting modes of the steering wheel, the gear ring adopts a fork structure. The fork structure can ensure that the gear ring is convenient to separate, so that the gear ring is sleeved below the steering wheel, and the integrity of the gear ring after the gear ring is closed again can be ensured. The gear and the gear ring can rotate more than 360 degrees in a matching way without any jamming phenomenon.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing embodiments, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A steering robot for unmanned driving test, characterized in that: the method comprises the following steps: steering robot (1), steering robot (1) installation and the steering wheel department of vehicle, steering robot (1) comprises steering wheel fixed assembly (20), components of a whole that can function independently ring gear assembly (8), drive assembly (7) and the fixed assembly of restriction, the fixed assembly of restriction includes vertical support column (2), horizontal support column (3), first mount (5) and second mount (6), install in the surface of vertical support column (2) through first mount (5) horizontal support column (3), the left side at horizontal support column (3) is installed in second mount (6), the inside of second mount (6) is equipped with linear bearing, steering wheel fixed assembly (20) is installed on components of a whole that can function independently ring gear assembly (8), components of a whole that can function independently ring gear assembly (8) include first ring gear (24) and second ring gear (25) and first ring gear (24) and second ring gear (25) constitute a complete ring shape structure, the steering wheel fixing assembly (20) comprises a fixing seat (15), the inside of the fixing seat (15) is provided with a sliding groove (16) and is internally provided with a screw rod (17), one end of the screw rod (17) extends to the outside of the fixing seat (15) and is provided with a knob (18), the surface of the screw rod (17) is provided with a steering wheel clamping jaw (19) and a steering wheel clamping jaw (19) which are in threaded connection with the screw rod (17), the lower part of the split gear ring assembly (8) is provided with a driving assembly (7) and the driving assembly (7) comprises a driving motor (26), the upper part of the driving motor (26) which is provided with a torque sensor (9) and the upper part of the torque sensor (9) is provided with a mounting plate (10), the power output end of the driving motor (26) extends to the upper end of the mounting plate (10) and is provided with a driving gear (14), the driving gear (14) and the internal clamping teeth of the split gear ring assembly (8) are mutually meshed, the both sides of drive gear (14) are equipped with gyro wheel (13) and the opposite side is equipped with drive sheave (12), it sets up to be article font structure between gyro wheel (13) and drive sheave (12), the lower part of mounting panel (10) is equipped with restriction connecting rod (11) and restricts the linear bearing of the inside of connecting rod (11) and second mount (6) and is connected, components of a whole that can function independently ring gear assembly (8) are located between drive sheave (12) and drive gear (14).

2. A steering driving robot for unmanned driving test according to claim 1, characterized in that: and the upper end and the lower end of the vertical supporting column (2) are respectively provided with a height adjusting device (4), and the height adjusting devices (4) are in threaded connection with the vertical supporting column (2).

3. A steering driving robot for unmanned driving test according to claim 1, characterized in that: the steering wheel fixing assemblies (20) are arranged in four groups and are arranged in a cross structure.

4. A steering driving robot for unmanned driving test according to claim 1, characterized in that: the side of steering wheel jack catch (19) is half arc structure setting and laminates each other between steering wheel jack catch (19) and the steering wheel.

5. A steering driving robot for unmanned driving test according to claim 1, characterized in that: the utility model discloses a fixing device for connecting gear ring, including first ring gear (24), second ring gear (25), connecting block (23) and clamping groove (22), the both ends of first ring gear (24) are equipped with connecting block (23) and second ring gear (25) are equipped with draw-in groove (22), mutual gomphosis between connecting block (23) and draw-in groove (22), the inside of draw-in groove (22) is equipped with fixed pin (21) and fixed pin (21) runs through fixed connection between draw-in groove (22) and connecting block (23).

6. A steering driving robot for unmanned driving test according to claim 1, characterized in that: and a rod type sensor (27) is arranged at the joint of the limiting connecting rod (11) and the mounting plate (10).