CN215922313U - Steering mechanism and unmanned vehicle - Google Patents
Steering mechanism and unmanned vehicle Download PDFInfo
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- CN215922313U CN215922313U CN202122281916.7U CN202122281916U CN215922313U CN 215922313 U CN215922313 U CN 215922313U CN 202122281916 U CN202122281916 U CN 202122281916U CN 215922313 U CN215922313 U CN 215922313U
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- steering
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- vehicle
- speed reducing
- output torque
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Abstract
The utility model discloses a steering mechanism and an unmanned vehicle. When the steering control device assembly runs, the steering controller assembly adjusts the output torque of the steering motor according to the control target corner of the vehicle and the collected actual corner of the speed reducing mechanism assembly; the speed reducing mechanism assembly only transmits the output torque of the steering motor to the steering gear assembly through the steering transmission shaft assembly after amplification, and the steering gear assembly transmits the output torque to the steering knuckle assembly, so that the steering function of the vehicle is realized. In the process, the speed reducing mechanism assembly only outputs torque according to the steering motor, in other words, the steering motor provides steering power, so that the steering mechanism can be suitable for the unmanned vehicle, and the application range of the steering mechanism is expanded. In addition, the steering controller assembly is simple in adjusting logic for adjusting the steering motor and strong in applicability.
Description
Technical Field
The utility model relates to the technical field of vehicles, in particular to a steering mechanism and an unmanned vehicle.
Background
At present, a steering mechanism of a market passenger vehicle needs to comprise a steering wheel assembly, torque is applied by manpower, a motor only provides assistance, and the steering mechanism cannot be applied to a low-speed unmanned logistics vehicle or a low-speed unmanned passenger vehicle.
Therefore, how to provide a steering mechanism suitable for an unmanned vehicle becomes a technical problem to be solved urgently by those skilled in the art.
SUMMERY OF THE UTILITY MODEL
The utility model provides a steering mechanism and an unmanned vehicle, which are suitable for the unmanned vehicle.
In order to achieve the purpose, the utility model provides the following technical scheme:
the utility model provides a steering mechanism, which comprises a steering controller assembly, a steering motor, a speed reducing mechanism assembly, a steering transmission shaft assembly, a steering gear assembly and a steering knuckle assembly, wherein:
the steering controller assembly is configured to adjust the output torque of the steering motor according to the target rotation angle and the actual rotation angle of the speed reducing mechanism assembly fed back by the angle sensor;
a steering motor configured to be capable of adjusting an output torque in accordance with a steering controller assembly;
the speed reducing mechanism assembly is configured to only transmit the output torque of the steering motor to the input end of the speed reducing mechanism assembly, and the output torque is output through the output end of the speed reducing mechanism assembly after speed reducing processing;
the steering transmission shaft assembly is configured to transmit the output torque output by the output end of the speed reducing mechanism assembly to the steering gear assembly;
a steering gear assembly configured to receive an output torque of the steering drive shaft assembly and to perform a corresponding lateral action; and
a steering knuckle assembly configured to receive a corresponding lateral motion of the steering gear assembly and perform a steering motion; the steering motor and the speed reducing mechanism assembly are fixed on the body of the vehicle, and the steering gear assembly is fixed on the front axle assembly of the vehicle.
Preferably, the steering motor and the reduction mechanism assembly are fixed on the vehicle body through a vehicle body bracket.
Preferably, the vehicle body support has two and is first vehicle body support and second vehicle body support respectively, and first vehicle body support is located one side that the speed reduction mechanism assembly is close to the automobile body, and second vehicle body support is located one side that the automobile body was kept away from to the speed reduction mechanism assembly, and wherein, first vehicle body support is provided with two bolts, and second vehicle body support is provided with a bolt.
Preferably, the steering controller assembly is connected with the vehicle body through a controller bracket.
Preferably, the steering controller assembly is connected to the controller bracket by four bolts.
Preferably, the steering transmission shaft assembly is connected with the speed reducing mechanism assembly and the steering gear assembly through a spline structure, so that power transmission is realized.
Preferably, the steering gear assembly is fixed with the front axle assembly through bolts.
Preferably, the middle part of the front axle assembly is provided with a first mounting seat and a second mounting seat, the steering gear assembly is provided with a first mounting plate and a second mounting plate, wherein the first mounting plate is mounted on the first mounting seat through a bolt, and the second mounting plate is mounted on the second mounting seat through a bolt.
Preferably, the steering assembly is connected to the knuckle assembly by a ball and pin arrangement and a slotted nut.
A first aspect of the utility model provides an unmanned vehicle comprising a steering mechanism as claimed in any preceding claim.
Preferably, the unmanned vehicle is a low-speed unmanned logistics vehicle or a low-speed unmanned passenger vehicle.
According to the technical scheme, when the steering mechanism provided by the utility model operates, the steering controller assembly adjusts the output torque of the steering motor according to the control target corner of the vehicle and the collected actual corner of the speed reducing mechanism assembly; the speed reducing mechanism assembly only transmits the output torque of the steering motor to the steering gear assembly through the steering transmission shaft assembly after amplification, and the steering gear assembly transmits the output torque to the steering knuckle assembly, so that the steering function of the vehicle is realized. In the process, the speed reducing mechanism assembly only outputs torque according to the steering motor, in other words, the steering motor provides steering power, so that the steering mechanism can be suitable for the unmanned vehicle, and the application range of the steering mechanism is expanded. In addition, the steering controller assembly is simple in adjusting logic for adjusting the steering motor and strong in applicability.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic structural view of a steering mechanism provided by the present invention in some embodiments;
FIG. 2 is a schematic diagram of the adjustment logic of the steering mechanism provided by the present invention in some embodiments;
FIG. 3 is a perspective view of the connection between the reduction mechanism assembly and the transmission shaft assembly provided by the present invention;
FIG. 4 is a perspective view of a steering controller assembly provided by the present invention;
fig. 5 is a rear view of a steering mechanism provided by the present invention.
Wherein 100 is a steering controller assembly, 200 is a steering motor, 300 is a speed reducing mechanism assembly, 400 is a steering transmission shaft assembly, 500 is a steering gear assembly, 600 is a steering knuckle assembly, and 700 is a front axle assembly;
Detailed Description
Based on the factors, the technical core of the utility model is to provide a steering mechanism which is suitable for an unmanned vehicle.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-5, a steering mechanism disclosed in some embodiments of the present invention includes a steering controller assembly 100, a steering motor 200, a reduction mechanism assembly 300, a steering transmission shaft assembly 400, a steering gear assembly 500, and a knuckle assembly 600, wherein: the steering controller assembly 100 is configured to adjust the output torque of the steering motor 200 according to the target steering angle and the actual steering angle of the reduction mechanism assembly 300 fed back by the angle sensor; the steering motor 200 is configured to be able to adjust the output torque according to the steering controller assembly 100; the reduction mechanism assembly 300 is configured to transmit only the output torque of the steering motor 200 to the input end of the reduction mechanism assembly 300 and output the output torque through the output end of the reduction mechanism assembly 300 after being subjected to speed reduction processing; the steering transmission shaft assembly 400 is configured to transmit the output torque output from the output end of the reduction mechanism assembly 300 to the steering gear assembly 500; the steering gear assembly 500 is configured to receive the output torque of the steering drive shaft assembly 400 and perform a corresponding lateral motion; and knuckle assembly 600 is configured to receive a corresponding lateral motion of steering gear assembly 500 and perform a steering motion; the steering motor 200 and the reduction mechanism assembly 300 are fixed to a vehicle body of the vehicle, and the steering gear assembly 500 is fixed to a front axle assembly 700 of the vehicle.
When the steering mechanism provided by the utility model operates, the steering controller assembly 100 adjusts the output torque of the steering motor 200 according to the control target corner of the vehicle and the collected actual corner of the speed reducing mechanism assembly 300; the speed reducing mechanism assembly 300 only amplifies the output torque of the steering motor 200 and transmits the amplified output torque to the steering gear assembly 500 through the steering transmission shaft assembly 400, and the steering gear assembly 500 transmits the amplified output torque to the knuckle assembly 600, so that the vehicle steering function is realized. In the above process, the speed reduction mechanism assembly 300 only outputs torque according to the steering motor 200, in other words, the steering motor 200 provides power for steering, so that the steering mechanism can be applied to the unmanned vehicle, thereby expanding the application range of the steering mechanism.
The steering controller assembly 100 has simple adjusting logic for adjusting the steering motor 200 and stronger applicability. The steering controller assembly 100 realizes closed-loop control of the steering motor 200 according to the monitored target steering angle and the fed-back actual steering angle of the vehicle, so that accurate steering is realized. The target corner can be obtained according to a whole vehicle control system of the vehicle, for example, the target corner can be obtained according to a pre-judgment of a steering lamp of the vehicle and then according to a pre-judgment result; the current position can be obtained according to a built-in navigation system of the vehicle, and a target corner is obtained when lane changing or steering is needed; or the vehicle judges whether an obstacle exists in front, judges whether lane change is needed according to the position of the obstacle, and generates a target corner when lane change is needed. The above-mentioned actual rotation angle may be acquired by providing a rotation angle sensor provided on the reduction mechanism assembly 300.
In addition, the steering gear assembly 500 is fixed on the front axle assembly 700, when the vehicle passes through a pothole road surface, the steering gear assembly 500 jumps along with the front axle assembly 700, the toe-in of the wheels and the turning angle of the wheels cannot be changed relatively, the turning angle is prevented from being adjusted repeatedly, and the vehicle is ensured to run linearly.
In some embodiments of the present invention, the steering motor 200 and the reduction mechanism assembly 300 are directly fixed on the vehicle body, or the steering motor 200 and the reduction mechanism assembly 300 may be fixed on the vehicle body through a vehicle body bracket. The steering motor 200 and the reduction mechanism assembly 300 may be provided with a body bracket, respectively, or only the reduction mechanism assembly 300 may be provided with a body bracket. In some embodiments of the present invention, there are two body supports, namely a first body support 301 and a second body support 302, the first body support 301 is located on the side of the speed reducing mechanism assembly 300 close to the vehicle body, and the second body support 302 is located on the side of the speed reducing mechanism assembly 300 far from the vehicle body. The connection mode of the vehicle body bracket and the vehicle body can be realized through bolt connection or welding connection, and the utility model is within the protection scope as long as the connection of the vehicle body bracket and the vehicle body can be realized. It is preferable in the present invention that the first body bracket 301 is provided with two bolts and the second body bracket 302 is provided with one bolt. That is, the reduction mechanism assembly 300 forms three mounting points that can form a triangular structure, so that the coupling strength between the reduction mechanism assembly 300 and the vehicle body can be ensured. In addition, with the bolt connection, when the reduction mechanism assembly 300 is subjected to maintenance due to a failure, maintenance and replacement can be performed by disassembly.
In some embodiments of the present invention, the steering controller assembly 100 may be directly fixed to the vehicle body, or the steering controller assembly 100 may be connected to the vehicle body through the controller bracket 101. The controller bracket 101 is connected to the vehicle body by bolts or welding, and preferably, the steering controller assembly 100 is connected to the controller bracket 101 by bolts. Further, the steering controller assembly 100 is connected to the controller bracket 101 through four bolts, and the four bolts are uniformly distributed at four corners of the controller bracket 101.
In some embodiments of the present invention, the steering shaft assembly 400 is connected to the reduction mechanism assembly 300 and the steering gear assembly 500 through a flat key structure, thereby implementing power transmission, or the steering shaft assembly 400 is connected to the reduction mechanism assembly 300 and the steering gear assembly 500 through a spline structure, thereby implementing power transmission. The utility model preferably adopts a spline structure for connection.
In some embodiments of the present invention, the steering gear assembly 500 is fixed to the front axle assembly 700 by welding, or the steering gear assembly 500 is fixed to the front axle assembly 700 by bolts. Preferably, the steering gear assembly 500 is fixed to the front axle assembly 700 by bolts.
Some embodiments of the present invention specifically describe a way to secure the steering gear assembly 500 to the front axle assembly 700: the middle of the front axle assembly 700 is provided with a first mounting seat 701 and a second mounting seat 702, and the steering gear assembly 500 is provided with a first mounting plate 501 and a second mounting plate 502, wherein the first mounting plate 501 is mounted on the first mounting seat 701 through a bolt, and the second mounting plate 502 is mounted on the second mounting seat 702 through a bolt.
Further, the middle of the first mounting seat 701 is provided with a first mounting space for accommodating the first mounting plate 501, the second mounting seat 702 is provided with a second mounting space for accommodating the second mounting plate 502, when mounting is needed, the first mounting plate 501 is placed in the first mounting space, the second mounting plate 502 is placed in the second mounting space, and finally, the first mounting plate 701 and the second mounting plate are fixed through bolts.
The steering gear assembly 500 is rotatably connected to the steering knuckle assembly 600, the number of the steering knuckle assemblies 600 is two, and the two steering knuckle assemblies are respectively a first steering knuckle assembly 600 and a second steering knuckle assembly 600, a first end of the steering gear assembly 500 is rotatably connected to the first steering knuckle assembly 600, and a second end of the steering gear assembly 500 is rotatably connected to the second steering knuckle assembly 600. When the steering of the target corner is left steering, the transverse motion of the first end of the steering gear assembly 500 is right movement and drives the first steering knuckle assembly 600 to rotate right, and meanwhile, the transverse motion of the second end of the steering gear assembly 500 is right movement and drives the second steering knuckle assembly 600 to rotate right, so that left steering is realized; when the steering of the target corner is a right steering, the lateral movement of the first end of the steering gear assembly 500 acts as a left movement and drives the first knuckle assembly 600 to rotate left, and the lateral movement of the second end of the steering gear assembly 500 acts as a left movement and drives the second knuckle assembly 600 to rotate left, thereby achieving a right steering.
There are many ways in which the rotatable connection can be achieved, and in an embodiment of the present invention, the steering gear assembly 500 is connected to the knuckle assembly 600 via a ball and pin arrangement and a slotted nut.
The utility model also discloses an unmanned vehicle which comprises any one steering mechanism. Since the above-described steering mechanism has the above advantageous effects, the unmanned vehicle including the steering mechanism also has corresponding effects.
The unmanned vehicle is a low-speed unmanned logistics vehicle or a low-speed unmanned passenger vehicle.
It should be noted that, for the convenience of description, only the portions relevant to the present invention of the related application are shown in the drawings. The embodiments and features of the embodiments in the present application may be combined with each other without conflict.
It should be understood that "system", "apparatus", "unit" and/or "module" as used herein is a method for distinguishing different components, elements, parts or assemblies at different levels. However, other words may be substituted by other expressions if they accomplish the same purpose.
As used in this application and the appended claims, the terms "a," "an," "the," and/or "the" are not intended to be inclusive in the singular, but rather are intended to be inclusive in the plural unless the context clearly dictates otherwise. In general, the terms "comprises" and "comprising" merely indicate that steps and elements are included which are explicitly identified, that the steps and elements do not form an exclusive list, and that a method or apparatus may include other steps or elements. An element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
In the description of the embodiments herein, "/" means "or" unless otherwise specified, for example, a/B may mean a or B; "and/or" herein is merely an association describing an associated object, and means that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of the present application, "a plurality" means two or more than two.
In the following, the terms "first", "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.
Flow charts are used herein to illustrate operations performed by systems according to embodiments of the present application. It should be understood that the preceding or following operations are not necessarily performed in the exact order in which they are performed. Rather, the various steps may be processed in reverse order or simultaneously. Meanwhile, other operations may be added to the processes, or a certain step or several steps of operations may be removed from the processes.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the utility model. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (11)
1. The utility model provides a steering mechanism, its characterized in that includes steering controller assembly, turns to motor, reduction gears assembly, steering drive shaft assembly, steering gear assembly and knuckle assembly, wherein:
the steering controller assembly is configured to adjust the output torque of the steering motor according to a target rotation angle and an actual rotation angle of the speed reducing mechanism assembly fed back by the angle sensor;
a steering motor configured to be capable of adjusting an output torque in accordance with the steering controller assembly;
the speed reducing mechanism assembly is configured to only transmit the output torque of the steering motor to the input end of the speed reducing mechanism assembly, and the output torque is output through the output end of the speed reducing mechanism assembly after speed reduction processing;
the steering transmission shaft assembly is configured to transmit the output torque output by the output end of the speed reducing mechanism assembly to the steering gear assembly;
a steering gear assembly configured to receive an output torque of the steering drive shaft assembly and to perform a corresponding lateral action; and
a steering knuckle assembly configured to receive a corresponding lateral motion of the steering gear assembly and perform a steering motion; the steering motor and the speed reducing mechanism assembly are fixed on a vehicle body of a vehicle, and the steering gear assembly is fixed on a front axle assembly of the vehicle.
2. The steering mechanism as claimed in claim 1, wherein said steering motor and said reduction mechanism assembly are fixed to said vehicle body by a vehicle body bracket.
3. The steering mechanism as claimed in claim 2, wherein there are two of the body brackets, a first body bracket and a second body bracket, the first body bracket being located on a side of the speed reducing mechanism assembly closer to the vehicle body, the second body bracket being located on a side of the speed reducing mechanism assembly farther from the vehicle body, wherein the first body bracket is provided with two bolts, and the second body bracket is provided with one bolt.
4. The steering mechanism as claimed in claim 1, wherein the steering controller assembly is connected to the vehicle body by a controller bracket.
5. The steering mechanism as in claim 4, wherein the steering controller assembly is connected to the controller bracket by four bolts.
6. The steering mechanism as claimed in claim 1, wherein the steering drive shaft assembly is connected to the reduction mechanism assembly and the steering gear assembly by a spline structure, thereby achieving power transmission.
7. The steering mechanism as claimed in claim 1, wherein the steering gear assembly is secured to the front axle assembly by bolts.
8. The steering mechanism as claimed in claim 7, wherein the front axle assembly is provided with a first mounting seat and a second mounting seat at a central portion thereof, and the steering gear assembly is provided with a first mounting plate and a second mounting plate, wherein the first mounting plate is mounted on the first mounting seat by bolts, and the second mounting plate is mounted on the second mounting seat by bolts.
9. The steering mechanism as claimed in claim 1, wherein the steering assembly is connected to the knuckle assembly by a ball and pin arrangement and a slotted nut.
10. An unmanned vehicle, characterized by comprising a steering mechanism according to any one of claims 1 to 9.
11. The unmanned vehicle of claim 10, wherein the unmanned vehicle is a low speed unmanned logistics vehicle or a low speed unmanned passenger vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122281916.7U CN215922313U (en) | 2021-09-18 | 2021-09-18 | Steering mechanism and unmanned vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122281916.7U CN215922313U (en) | 2021-09-18 | 2021-09-18 | Steering mechanism and unmanned vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215922313U true CN215922313U (en) | 2022-03-01 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122281916.7U Active CN215922313U (en) | 2021-09-18 | 2021-09-18 | Steering mechanism and unmanned vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215922313U (en) |
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2021
- 2021-09-18 CN CN202122281916.7U patent/CN215922313U/en active Active
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