CN106627742B - A kind of transfer of automatic driving vehicle - Google Patents
A kind of transfer of automatic driving vehicle Download PDFInfo
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- CN106627742B CN106627742B CN201610848549.5A CN201610848549A CN106627742B CN 106627742 B CN106627742 B CN 106627742B CN 201610848549 A CN201610848549 A CN 201610848549A CN 106627742 B CN106627742 B CN 106627742B
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- output shaft
- rotor
- reducer
- planetary gear
- planetary
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0409—Electric motor acting on the steering column
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
Abstract
The invention discloses a kind of transfers of automatic driving vehicle, including double output shaft servo motor, first planetary gear retarder, the second planetary reducer, turn to encoder, first shaft coupling, second shaft coupling, steering wheel, steering shaft and motor fixed rack, wherein, the first planetary gear retarder is set to the top of the double output shaft servo motor, and second planetary reducer is set to the lower section of the double output shaft servo motor；The present invention uses double output shaft servo motor, both ends cooperate planetary reducer, keep the executing agency of auto-steering compact-sized, occupy volume very little, when being reequiped, only need to by original steering shaft wherein one section remove, it replaces with double output shaft servo motor, planetary reducer and turns to encoder, there is very strong practicability, facilitate mounting arrangements, versatility is stronger.
Description
Technical field
The present invention relates to automatic Pilot technical fields, and in particular to a kind of transfer of automatic driving vehicle.
Background technique
With the development of automatic control technology, unmanned and automatic navigation technology is had made great progress, wherein conduct
The auto-steering technical level of one of key technology is also being continuously improved, excessively inside and outside scholar to vehicle auto-steering execution part and
Control mode has carried out many researchs.In some dangerous industries and high-risk field, vehicle can replace people to complete work
Make, this has great significance to the working strength and raising working efficiency that reduce labourer.To the original turning machine of vehicle
When structure carries out automatic refit, refiting scheme is often limited to the original steering mechanism of vehicle, and traditional motor is passed by gear
The transmission of dynamic or belt, transferring power to this solution in steering shaft has certain limitation, needs to occupy biggish
Space, in the narrower vehicle of some arrangement spaces, this traditional steering mechanism's installation is inconvenient.
Summary of the invention
The purpose of the present invention is to overcome the shortcomings of the existing technology with it is insufficient, provide a kind of compact-sized, facilitate installation cloth
It sets, versatility is stronger, the transfer for the automatic driving vehicle for facilitating pilot steering and automatic Pilot to switch.
The purpose of the invention is achieved by the following technical solution:
A kind of transfer of automatic driving vehicle, including double output shaft servo motor, first planetary gear retarder,
Two planetary reducers turn to the fixed branch of encoder, first shaft coupling, second shaft coupling, steering wheel, steering shaft and motor
Frame, wherein the first planetary gear retarder is set to the top of the double output shaft servo motor, the second planet tooth
Wheel decelerator is set to the lower section of the double output shaft servo motor；The steering encoder is set to second planetary gear
The lower section of retarder；The steering wheel is connected by the first shaft coupling with the first planetary gear retarder；It is described
Steering shaft is connected by the second shaft coupling with second planetary reducer；The motor fixed rack is set to
The outer surface of the double output shaft servo motor；
The double output shaft servo motor includes stator, rotor, the first rotor output shaft and the second rotor of output shaft axle,
In, the first rotor output shaft is set to the top of the rotor, and second rotor of output shaft axle is set to the rotor
Lower section, and gear is designed in the first rotor output shaft and the second rotor of output shaft axle；
The first planetary gear retarder includes the first planetary gear, first planet carrier and the first reducer output shaft,
In, first planetary gear is connected with the first planet carrier, the first planet carrier and first reducer output shaft
It is connected, and first planetary gear is meshed with the gear on the first rotor output shaft；Second planetary gear reduction
Fast device includes the second planetary gear, the second planet carrier and the second reducer output shaft, wherein second planetary gear and described second
Planet carrier is connected, and second planet carrier is connected with second reducer output shaft, and second planetary gear and institute
The gear stated in the second rotor of output shaft axle is meshed；
Inner ring is equipped among the steering encoder, the inner ring is flexibly connected with the steering encoder, the inner ring
Centre is equipped with through-hole, and second reducer output shaft is stretched out from the through hole, and the through hole is equipped with keyway, the inner ring
It is fitted close by the keyway and second reducer output shaft.
Preferably, the double output shaft servo motor and first planetary gear retarder and the second planetary reducer
Connection type is all fixedly connected for bolt；Setting can guarantee to connect between servo motor and planetary reduction gear reliable in this way, subtract
The problems such as few transmitting of the steering power due to caused by mating connection problem failure.
Preferably, the steering encoder is fixedly connected with the second planetary reducer by clamping screw；It sets in this way
Setting can prevent in longtime running because steering angle caused by steering encoder caused by mating connection problem loosens measures
Misalignment can make the measurement of steering angle maintain a long-term stability reliably.
Preferably, the motor fixed rack includes two supports, and described two supports are respectively arranged at the dual output
The two sides of axis servo motor outer surface；Setting facilitates the vehicle of automatic steering system and vehicle according to the actual conditions of repacking in this way
Body or vehicle frame are attached.
Preferably, the double output shaft servo motor is direct current generator；The convenient electric appliance base in existing vehicle of setting in this way
It is installed on plinth, while the stabilization to steering angle may be implemented, accurately and rapidly control using DC servo motor.
The present invention have compared with prior art it is below the utility model has the advantages that
(1) present invention uses double output shaft servo motor, and both ends cooperate planetary reducer, make the execution of auto-steering
Mechanism structure is compact, occupy volume very little, when being reequiped, only need to by original steering shaft wherein one section remove, replace with
Double output shaft servo motor, planetary reducer and steering encoder, have very strong practicability, facilitate mounting arrangements,
Its versatility is stronger；
(2) structure of the invention passes through belt pulley, friction pulley or gear driving in steering shaft side relative to motor
Mode can reduce the occupancy in space, and simultaneity factor is not in biggish vibration at runtime, and avoid due to belt pine
Failure mode caused by the problems such as dynamic and so on；
(3) present invention is using motor, retarder, the integrated structure design of encoder, the convenient repacking to steering mechanism
With maintenance, installation difficulty is reduced；
(4) power source of the invention uses DC servo motor, and control system is facilitated to be precisely controlled；
(5) present invention realize pilot steering and automatic Pilot switching, can be suitable for a variety of different working methods and
Working environment.
Detailed description of the invention
Fig. 1 is perspective view of the invention；
Fig. 2 is structural schematic diagram of the invention；
Fig. 3 is the A-A cross-sectional view of Fig. 2；
Appended drawing reference in figure are as follows: 1, double output shaft servo motor；2, first planetary gear retarder；3, the second planetary gear
Retarder；4, encoder is turned to；5, second shaft coupling；6, first shaft coupling；7, support；8, rotor；9, the first rotor output shaft；
10, first planet carrier；11, the first reducer output shaft；12, the first planetary gear；13, the second rotor of output shaft axle；14, inner ring；15,
Keyway；16, the second reducer output shaft.
Specific embodiment
Present invention will now be described in further detail with reference to the embodiments and the accompanying drawings, but embodiments of the present invention are unlimited
In this.
As shown in Figure 1 to Figure 3, a kind of transfer of automatic driving vehicle, including double output shaft servo motor 1, first
Planetary reducer 2, turns to encoder 4, first shaft coupling 6, second shaft coupling 5, direction at second planetary reducer 3
Disk, steering shaft and motor fixed rack, wherein the first planetary gear retarder 2 is set to the double output shaft servo electricity
The top of machine 1, second planetary reducer 3 are set to the lower section of the double output shaft servo motor 1, the dual output
Axis servo motor 1 is direct current generator；The lower section for turning to encoder 4 and being set to second planetary reducer 3；It is described
Steering wheel is connected by the first shaft coupling 6 with the first planetary gear retarder 2；The steering shaft passes through described the
Two shaft couplings 5 are connected with second planetary reducer 3；The motor fixed rack is set to the double output shaft and watches
The outer surface of motor 1 is taken, the motor fixed rack includes two supports 7, and described two supports 7 are respectively arranged at the lose-lose
The two sides of 1 outer surface of shaft servo motor；The double output shaft servo motor 1 and first planetary gear retarder 2 and the second row
The connection type of star gear reduction unit 3 is all fixedly connected for bolt；The steering encoder 4 and the second planetary reducer 3
It is fixedly connected by clamping screw；The double output shaft servo motor 1 includes stator, rotor 8, the first rotor output shaft 9 and the
Two rotor of output shaft axle 13, wherein the first rotor output shaft 9 is set to the top of the rotor 8, the second rotor output
Axis 13 is set to the lower section of the rotor 8, and is designed with tooth in the first rotor output shaft 9 and the second rotor of output shaft axle 13
Wheel；The first planetary gear retarder 2 includes the first planetary gear 12, first planet carrier 10 and the first reducer output shaft 11,
Wherein, first planetary gear 12 is connected with the first planet carrier 10, and the first planet carrier 10 is slowed down with described first
Device output shaft 11 is connected, and first planetary gear 12 is meshed with the gear on the first rotor output shaft 9；Described
Two planetary reducers 3 include the second planetary gear, the second planet carrier and the second reducer output shaft 16, wherein described second
Planetary gear is connected with second planet carrier, and second planet carrier is connected with second reducer output shaft 16, and
Second planetary gear is meshed with the gear in second rotor of output shaft axle 13；It is equipped among the steering encoder 4 interior
Circle 14, the inner ring 14 is flexibly connected with the steering encoder 4, and through-hole is equipped among the inner ring 14, and described second slows down
Device output shaft 16 is stretched out from the through hole, and the through hole is equipped with keyway 15, and the inner ring 14 passes through the keyway 15 and institute
State the tight fit of the second reducer output shaft 16.
Specifically, double output shaft servo motor 1 is controlled by control system, double output shaft under automatic driving mode
Servo motor 1 is made of stator and rotor 8, two output shafts and first planetary gear retarder 2 and the second planet tooth of rotor 8
Wheel decelerator 3 connects, and turns to encoder 4 and passes through the end that the second reducer output shaft 16 is fixed on the second planetary reducer 3
On face.First reducer output shaft 11 and the second reducer output shaft 16 by first shaft coupling 6 and second shaft coupling 5 and turn to
The universal driving device of axis links together, and the support 7 of double output shaft servo motor 1 is fixed on vehicle body or vehicle frame, keeps double
Stablize when the operation of output shaft servo motor 1.
Fig. 1 first planetary gear retarder 2 into Fig. 3 is identical with the specifications and models of the second planetary reducer 3,
The first rotor output shaft 9 is meshed by gear with the first planetary gear 12 in first planetary gear retarder 2, and motor rotates band
Dynamic first planetary gear 12 rotation, the first planetary gear 12 drive first planet carrier 10 to rotate, first planet carrier 10 and the first retarder
Output shaft 11 connects firmly, and is also same for the second planetary reducer 3 to export after the power of motor is carried out deceleration torque increase
The principle of sample.Since first planetary gear retarder 2 and the second planetary reducer 3 are just the same, by 8 both ends of rotor
The first rotor output shaft 9 and the second rotor of output shaft axle 13 output power, can be completely the same be transmitted to first planetary gear
Above the first reducer output shaft 11 and the second reducer output shaft 16 of retarder 2 and the second planetary reducer 3, first
Reducer output shaft 11 and the revolving speed having the same of the second reducer output shaft 16 and torque.
Turning to encoder 4 has through-hole structure, directly through the second reducer output shaft 16, wherein turning in encoder 4
There are keyways 15 can be cooperated with the second reducer output shaft 16 above for circle 14, can be by the second reducer output shaft 16
Rotation, which is transmitted to, to be turned to above 4 inner ring 14 of encoder, to measure steering axes angle.
When being switched to manual drive mode, relay cuts off the power supply of double output shaft servo motor 1, at this time double output shaft
Servo motor 1 is without torque output.11 turns of the first reducer output shaft of steering wheel rotation drive first planetary gear retarder 2
Dynamic, it is assumed that the revolving speed of steering wheel is N, the reduction ratio of first planetary gear retarder 2 is k, the first reducer output shaft 11
Rotor 8 is driven to rotate by first planetary gear retarder 2, after the amplification of 2 inverted speed of first planetary gear retarder,
The revolving speed of rotor 8 is kN, and the revolving speed of rotation is decayed to N by the second planetary reducer 3 by rotor 8 again, and is transmitted to the
Two reducer output shafts 16, the revolving speed of the second reducer output shaft 16 is N at this time, and the second reducer output shaft 16 passes through second
Axis device 5 is connected with the steering shaft of lower section, and rotation is transmitted to steering shaft.Under manual mode, power subtracts by first planetary gear
Fast device 2, double output shaft servo motor 1, the second planetary reducer 3, revolving speed is there is no changing, therefore, the automatic Pilot vehicle
Transfer will not influence manual drive.
The present invention uses double output shaft servo motor, and both ends cooperate planetary reducer, make the execution machine of auto-steering
Structure is compact-sized, occupies volume very little, when being reequiped, only need to by original steering shaft wherein one section remove, replace with double
Output shaft servo motor, planetary reducer and steering encoder, have very strong practicability, facilitate mounting arrangements,
Versatility is stronger；Structure of the invention passes through belt pulley, friction pulley or gear driving in steering shaft side relative to motor
Mode can reduce the occupancy in space, and simultaneity factor is not in biggish vibration at runtime, and avoid due to belt pine
Failure mode caused by the problems such as dynamic and so on；It is designed using motor, retarder, the integrated structure of encoder,
Convenient repacking and maintenance to steering mechanism, reduces installation difficulty；Power source use DC servo motor, facilitate control system into
Row is precisely controlled；The switching for realizing pilot steering and automatic Pilot, can be suitable for a variety of different working methods and building ring
Border.
Above-mentioned is the preferable embodiment of the present invention, but embodiments of the present invention are not limited by the foregoing content,
His any changes, modifications, substitutions, combinations, simplifications made without departing from the spirit and principles of the present invention, should be
The substitute mode of effect, is included within the scope of the present invention.
Claims (5)
1. a kind of transfer of automatic driving vehicle, which is characterized in that including double output shaft servo motor, first planetary gear
Retarder, turns to encoder, first shaft coupling, second shaft coupling, steering wheel, steering shaft and electricity at the second planetary reducer
Machine fixes bracket, wherein and the first planetary gear retarder is set to the top of the double output shaft servo motor, and described the
Two planetary reducers are set to the lower section of the double output shaft servo motor；The steering encoder is set to described second
The lower section of planetary reducer；The steering wheel is connected by the first shaft coupling with the first planetary gear retarder
It connects；The steering shaft is connected by the second shaft coupling with second planetary reducer；The fixed branch of the motor
Set up the outer surface for being placed in the double output shaft servo motor；
The double output shaft servo motor includes stator, rotor, the first rotor output shaft and the second rotor of output shaft axle, wherein institute
The top that the first rotor output shaft is set to the rotor is stated, second rotor of output shaft axle is set to the lower section of the rotor,
And gear is designed in the first rotor output shaft and the second rotor of output shaft axle；
The first planetary gear retarder includes the first planetary gear, first planet carrier and the first reducer output shaft, wherein institute
It states the first planetary gear to be connected with the first planet carrier, the first planet carrier is connected with first reducer output shaft
It connects, and first planetary gear is meshed with the gear on the first rotor output shaft；Second planetary reducer
Including the second planetary gear, the second planet carrier and the second reducer output shaft, wherein second planetary gear and second planet
Frame is connected, and second planet carrier is connected with second reducer output shaft, and second planetary gear and described the
Gear in two rotor of output shaft axle is meshed；
Inner ring is equipped among the steering encoder, the inner ring is flexibly connected with the steering encoder, among the inner ring
Equipped with through-hole, second reducer output shaft stretches out among the through-hole, and keyway, the inner ring are equipped among the through-hole
It is fitted close by the keyway and second reducer output shaft.
2. the transfer of automatic driving vehicle according to claim 1, which is characterized in that the double output shaft servo electricity
Machine is all fixedly connected with the connection type of first planetary gear retarder and the second planetary reducer for bolt.
3. the transfer of automatic driving vehicle according to claim 1, which is characterized in that the steering encoder and
Two planetary reducers are fixedly connected by clamping screw.
4. the transfer of automatic driving vehicle according to claim 1, which is characterized in that the motor fixed rack packet
Two supports are included, described two supports are respectively arranged at the two sides of double output shaft servo motor outer surface.
5. the transfer of automatic driving vehicle according to claim 1, which is characterized in that the double output shaft servo electricity
Machine is direct current generator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610848549.5A CN106627742B (en) | 2016-09-23 | 2016-09-23 | A kind of transfer of automatic driving vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610848549.5A CN106627742B (en) | 2016-09-23 | 2016-09-23 | A kind of transfer of automatic driving vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106627742A CN106627742A (en) | 2017-05-10 |
| CN106627742B true CN106627742B (en) | 2019-03-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610848549.5A Active CN106627742B (en) | 2016-09-23 | 2016-09-23 | A kind of transfer of automatic driving vehicle |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110254508A (en) * | 2019-06-29 | 2019-09-20 | 华南理工大学 | A kind of vehicle active steering transmission device, the automobile of variable gear ratio |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4417510A1 (en) * | 1994-05-19 | 1995-11-23 | Bosch Gmbh Robert | Power steering system for vehicle |
| DE10217123A1 (en) * | 2002-04-17 | 2003-12-18 | Bosch Gmbh Robert | Backlash-free steering gear |
| JP4672427B2 (en) * | 2005-04-21 | 2011-04-20 | 三菱重工業株式会社 | Planetary roller driving device and steering device provided with the same |
| CN105329313A (en) * | 2015-12-01 | 2016-02-17 | 毕大宁 | Steering column type electric power assisting device |
| CN105667581A (en) * | 2016-03-22 | 2016-06-15 | 王亚莉 | Compact steering column type automobile electric power assisting device |
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2016
- 2016-09-23 CN CN201610848549.5A patent/CN106627742B/en active Active
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| CN106627742A (en) | 2017-05-10 |
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