CN2696906Y - Servo mechanism of longitudinal control for automatically driving motor vehicle - Google Patents
Servo mechanism of longitudinal control for automatically driving motor vehicle Download PDFInfo
- Publication number
- CN2696906Y CN2696906Y CN 200420048035 CN200420048035U CN2696906Y CN 2696906 Y CN2696906 Y CN 2696906Y CN 200420048035 CN200420048035 CN 200420048035 CN 200420048035 U CN200420048035 U CN 200420048035U CN 2696906 Y CN2696906 Y CN 2696906Y
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- wire
- drawing wheel
- wheel
- wiredrawing
- servomechanism
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Abstract
The utility model discloses a servo mechanism of longitudinal control for automatically driving motor vehicle, and the structure comprises an air control shutter and a servo mechanism. The utility model is characterized in that: each part respectively consists of an electric motor, an electromagnetic clutch, a wiredrawing wheel, a wiredrawing wheel rotation angle sensor, a wire drawing, fixed pulleys, and a supporting frame. The output shaft of the electric motor drives the wiredrawing wheel to rotate by being connected to the electromagnetic clutch on the output shaft; the measuring terminal of the rotation angle sensor is connected to a pinion gear, and the pinion gear and the wiredrawing wheel realize the engagement; one terminal of the wiredrawing is fixed on the winding reel of the wiredrawing wheel, and the other terminal is connected to the lower terminal of the accelerator or the brake pedal after passing one or two fixed pulleys. The device has the following advantages: the changes for the vehicle is very small; the cost of the utility model itself is relatively low; the execute instruction is reliable and the positioning accuracy is high within the running speed range of the vehicle; as the application of the electromagnetic clutch, the manual mode and the automatically driving mode can be conveniently and effectively changed over, and the use is safe and reliable.
Description
Technical field
The utility model relates to a kind of self-propelled vehicle automatic steering control actuating device.
Background technology
Vertically the control servomechanism is the important component part of automatic driving vehicle.Because intelligent road and automatic steering are still at the experimental stage at home and abroad, still the automobile longitudinal control mechanism that does not have at present moulding, relevant prototype version device is mostly on the basis of existing motor vehicle construction, the parts of servomechanism are installed, caused arrangement of mechanism unreasonable, connect not compactly between parts, integral structure is coordinated with combining not really of automobile.If make control servomechanism one vehicle design become organic whole, will make it in structure, part, connection with obtain maximum improvement in appearance.
Summary of the invention
Self-propelled vehicle automatic steering described in the utility model is vertically controlled servomechanism, can solve automobile in vehicle speed range, safety, the problem of quickening automatically, slowing down and brake according to instruction effectively.
It is as follows that self-propelled vehicle automatic steering described in the utility model is vertically controlled the technical scheme that servomechanism addresses the above problem: its structure comprises throttle gate and control of braking servomechanism two parts, and each part is formed by electrical motor, magnetic clutch, wire-drawing wheel, wire-drawing wheel rotary angle transmitter, backguy, fixed pulley and support; Described motor output shaft drives wire-drawing wheel and rotates by connecting the magnetic clutch on it, and this wire-drawing wheel is movably set on the motor output shaft of magnetic clutch one side by bearing, and with the mouth interlock of magnetic clutch; Described rotary angle transmitter measuring junction is connected with a miniature gears, and this miniature gears and described wire-drawing wheel are realized being connected with a joggle; Described backguy one end is fixed on the roll of wire-drawing wheel, and the other end is connected to the lower end of throttle or brake pedal by behind one to two fixed pulley.
Aforesaid a kind of self-propelled vehicle automatic steering is vertically controlled servomechanism, described electrical motor adopts stepping motor, and should satisfy throttle gate and control of braking servomechanism maximum static torque respectively greater than 1N.m and 3.7N.m, square frequency characteristic is in the requirement of 1000HZ with the interior decline that do not have.
Aforesaid a kind of self-propelled vehicle automatic steering is vertically controlled servomechanism, and described magnetic clutch is a slipping toothed electromagnetic clutch; And the rated moment of its transmission should satisfy the requirement of maximum static torque.
Aforesaid a kind of self-propelled vehicle automatic steering is vertically controlled servomechanism, the diameter of described wire-drawing wheel should satisfy the requirement of treadle effort and pedal travel speed, the backguy that connects wire-drawing wheel and pedal is the Bowden cable structure that has sheath, and is fixed in the car body by fixed card.
The utlity model has following advantage and good effect:
1. very little to the change of vehicle, the cost of itself is also lower;
2. in the Vehicle Speed scope, execution command is reliable, accuracy of positioning is high;
3. the application of magnetic clutch can be switched two kinds of patterns of artificial and automatic steering convenient, effectively, and is safe in utilization, reliable.
Description of drawings
Fig. 1 is that control servomechanism described in the utility model is installed on the structural representation on the vehicle;
Fig. 2 is the semi-sictional view front elevation of control servomechanism described in the utility model;
Fig. 3 is the birds-eye view of control servomechanism described in the utility model.
The specific embodiment
Principle of work of the present utility model is as follows:
This self-propelled vehicle automatic steering is vertically controlled servomechanism and is made up of throttle gate and control of braking servomechanism two parts, each part is made up of electrical motor, magnetic clutch, wire-drawing wheel, wire-drawing wheel rotary angle transmitter, backguy, backguy sheath, a pair of fixed pulley and support etc., and the structure of its transmission device is seen Fig. 1, Fig. 2 and Fig. 3.Its principle of work is when magnetic clutch meshes, the forward and backward of electrical motor will drive the positive and negative rotation of wire-drawing wheel, also promptly strain or loosen backguy, backguy is connected with brake pedal with throttle (throttle gate) pedal by the fixed pulley change of direction, thereby tension or loosen pedal, thereby make car acceleration, deceleration and braking, the angular dimension of control motor forward and backward and the speed of variation, variation that can the Control of Automobile longitudinal movement.The angle of wire-drawing wheel rotary angle transmitter feedback wire-drawing wheel actual rotation improves control accuracy.Its architectural feature is:
Motor shaft was controlled by magnetic clutch with being connected of wire-drawing wheel.When magnetic clutch separated, wire-drawing wheel was free to rotate on motor, and this moment, this device did not influence pilot steering.During automatic steering, magnetic clutch engages.Motor shaft and wire-drawing wheel rotate synchronously, simultaneously by pulling pedal travels such as backguy, fixed pulleys, thus the longitudinal movement of Control of Automobile.
Described electrical motor adopts stepping motor.Its stepping angle 1.8 degree, throttle gate and control of braking servomechanism maximum static torque are respectively greater than 1N.m, and 3.7N.m, square frequently characteristic at 1000Hz with the interior decline that do not have.
Described magnetic clutch is a slipping toothed electromagnetic clutch, and the rated moment of its transmission will satisfy above-mentioned maximum static torque requirement.
Behind selected stepping motor, the requirement of treadle effort and pedal travel speed is satisfied in the diameter design of described wire-drawing wheel.
The backguy of described connection wire-drawing wheel and pedal is the Bowden cable that has sheath.
Concrete structure of the present utility model is referring to accompanying drawing:
Accompanying drawing 1 is the utility model scheme drawing, the self-propelled vehicle automatic steering is vertically controlled servomechanism and is made up of throttle gate and control of braking servomechanism two parts, but be mutually independently, each part (Fig. 1) all is made up of base plate 1, vertical actr 2, backguy 3, fixed pulley 4 and 8, backguy sheath fixed card 5 and 7, backguy sheath 6 and backguy and tirasse 9 etc.10,11 pedal and the base plates that are respectively automobile are illustrated in the installation site on the automobile.
Accompanying drawing 2 is that it mainly is made up of support 202, stepping motor 203, wire-drawing wheel rotary angle transmitter 204, miniature gears 205, big gear wheel 207, magnetic clutch 210, bearing 211, wire-drawing wheel 212, contact 213 etc. to the further specifying of vertical actr 2.Device has electromagnetic switching clutch on instrument carrier panel, open back contact 213 energisings and make the magnetic clutch engagement, when stepping motor has been accepted to instruct from the automatic guidance of Vehicular intelligent control system, just produce corresponding corner, output shaft by stepping motor passes to magnetic clutch with corresponding corner, and make wire-drawing wheel and big gear wheel rotate same angle, wire-drawing wheel pulling backguy, drive pedal travel, thereby vehicle is quickened, slow down and braking, the rotation driving pinion of big gear wheel rotates, make the wire-drawing wheel rotary angle transmitter rotate a certain angle and export correspondent voltage, by prior demarcation, we just can obtain the actual angle that turns over, and feed back to the Vehicular intelligent control system.
Claims (4)
1. a self-propelled vehicle automatic steering is vertically controlled servomechanism, its structure comprises throttle gate and control of braking servomechanism two parts, it is characterized in that: each part is formed by electrical motor, magnetic clutch, wire-drawing wheel, wire-drawing wheel rotary angle transmitter, backguy, fixed pulley and support; Described motor output shaft drives wire-drawing wheel and rotates by connecting the magnetic clutch on it, and this wire-drawing wheel is movably set on the motor output shaft of magnetic clutch one side by bearing, and with the mouth interlock of magnetic clutch; Described rotary angle transmitter measuring junction is connected with a miniature gears, and this miniature gears and described wire-drawing wheel are realized being connected with a joggle; Described backguy one end is fixed on the roll of wire-drawing wheel, and the other end is connected to the lower end of throttle or brake pedal by behind one to two fixed pulley.
2. a kind of self-propelled vehicle automatic steering as claimed in claim 1 is vertically controlled servomechanism, it is characterized in that: described electrical motor adopts stepping motor, and should satisfy throttle gate and control of braking servomechanism maximum static torque respectively greater than 1N.m and 3.7N.m, square frequency characteristic is in the requirement of 1000HZ with the interior decline that do not have.
3. a kind of self-propelled vehicle automatic steering as claimed in claim 1 is vertically controlled servomechanism, it is characterized in that: magnetic clutch is a slipping toothed electromagnetic clutch; And the rated moment of its transmission should satisfy the requirement of maximum static torque.
4. a kind of self-propelled vehicle automatic steering as claimed in claim 1 is vertically controlled servomechanism, it is characterized in that: the diameter of wire-drawing wheel should satisfy the requirement of treadle effort and pedal travel speed, the backguy that connects wire-drawing wheel and pedal is the Bowden cable structure that has sheath, and is fixed in the car body by fixed card.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200420048035 CN2696906Y (en) | 2004-04-08 | 2004-04-08 | Servo mechanism of longitudinal control for automatically driving motor vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200420048035 CN2696906Y (en) | 2004-04-08 | 2004-04-08 | Servo mechanism of longitudinal control for automatically driving motor vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2696906Y true CN2696906Y (en) | 2005-05-04 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200420048035 Expired - Fee Related CN2696906Y (en) | 2004-04-08 | 2004-04-08 | Servo mechanism of longitudinal control for automatically driving motor vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2696906Y (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106740750A (en) * | 2016-12-30 | 2017-05-31 | 华南理工大学 | A kind of brake pedal unit of step motor control pedal aperture |
| CN107054452A (en) * | 2017-03-16 | 2017-08-18 | 北京理工大学 | A kind of automatic driving vehicle autosteerer |
| CN108349473A (en) * | 2016-01-15 | 2018-07-31 | 无人驾驶方案株式会社 | Vehicle brake driving device |
| CN109029226A (en) * | 2017-06-08 | 2018-12-18 | 东风汽车有限公司 | Dynamic measuring device and measuring method for vehicle pedal travel |
| CN114275035A (en) * | 2021-12-30 | 2022-04-05 | 西安理工大学 | Auxiliary driving and refitting mechanism for electric automobile |
-
2004
- 2004-04-08 CN CN 200420048035 patent/CN2696906Y/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108349473A (en) * | 2016-01-15 | 2018-07-31 | 无人驾驶方案株式会社 | Vehicle brake driving device |
| CN106740750A (en) * | 2016-12-30 | 2017-05-31 | 华南理工大学 | A kind of brake pedal unit of step motor control pedal aperture |
| CN106740750B (en) * | 2016-12-30 | 2023-12-05 | 华南理工大学 | Brake pedal assembly for controlling pedal opening of stepping motor |
| CN107054452A (en) * | 2017-03-16 | 2017-08-18 | 北京理工大学 | A kind of automatic driving vehicle autosteerer |
| CN107054452B (en) * | 2017-03-16 | 2019-01-29 | 北京理工大学 | A kind of automatic driving vehicle autosteerer |
| CN109029226A (en) * | 2017-06-08 | 2018-12-18 | 东风汽车有限公司 | Dynamic measuring device and measuring method for vehicle pedal travel |
| CN114275035A (en) * | 2021-12-30 | 2022-04-05 | 西安理工大学 | Auxiliary driving and refitting mechanism for electric automobile |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20050504 Termination date: 20110408 |