CN109017973A - A kind of unmanned engineering truck steering wheel repacking mechanism - Google Patents
A kind of unmanned engineering truck steering wheel repacking mechanism Download PDFInfo
- Publication number
- CN109017973A CN109017973A CN201810931074.5A CN201810931074A CN109017973A CN 109017973 A CN109017973 A CN 109017973A CN 201810931074 A CN201810931074 A CN 201810931074A CN 109017973 A CN109017973 A CN 109017973A
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- steering wheel
- gear
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- fixed
- gear set
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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
- B62D5/02—Power-assisted or power-driven steering mechanical, e.g. using a power-take-off mechanism for taking power from a rotating shaft of the vehicle and applying it to the steering gear
-
- 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
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Steering Mechanism (AREA)
Abstract
The invention discloses a kind of unmanned engineering truck steering wheels to reequip mechanism, including steering wheel shaft, gear set, top board, lower platen, encoder, motor, using steering wheel as support, steering wheel lower part puts on gear set, by the motor output power of tail portion, gear set rotation is driven, to drive the rotation of steering wheel shaft.Using steering wheel itself as a supporting point, tail portion also is secured on bracket as a supporting point for mechanism of the present invention, can reduce the damage for former vehicle steering wheel mechanism；In addition to this, steering wheel front to the gap between glass for vehicle window is taken full advantage of, will reasonably be fixedly connected and be placed in steering wheel front, driver is not influenced and enters and leaves driver's cabin, driver behavior space will not be occupied, maneuverability can be greatly improved；Finally, not needing detaching structure or change executing agency, can pilot steering directly can be realized to the same steering wheel rotation of ordinary operation in driver, very convenient reliable when being converted to pilot steering by unmanned mode.
Description
Technical field
The invention belongs to automatic driving car technical field more particularly to a kind of unmanned engineering truck steering wheel modified machines
Structure.
Background technique
The case where need to being changed to automatic driving car based on similar engineering vehicle, the existing repacking to its steering wheel executing agency are mostly
Gear is added in steering wheel lower part, drives the rotation of steering wheel by the engaged transmission of gear, but this refiting scheme meeting
Largely effect on driving space, influence driver operation of driver when getting on or off the bus and be switched to pilot steering to steering wheel,
Or be one mechanical arm of production, under connect scroll chuck card principal direction disk to drive the rotation of steering wheel, but this scheme
Very big cab space can be occupied, the property easy to operate of driver when driver comfort and manual drive is influenced, is based on this
Kind problem can control the rotation of steering wheel we have invented one kind and not influence the direction of the manual drive of driver
Disk executing agency.
Summary of the invention
The technical problem to be solved by the invention is to provide a kind of unmanned engineering truck steering wheels to reequip mechanism, reduces
Damage for former vehicle steering wheel mechanism, and improve maneuverability when use.
The technical solution adopted by the present invention to solve the technical problems is: providing a kind of unmanned engineering truck steering wheel and changes
Mounting mechanism, including steering wheel shaft, gear set, top board, lower platen, encoder, motor, using steering wheel as support, direction
Disk lower part puts on gear set, by the motor output power of tail portion, drives gear set rotation, to drive turning for steering wheel shaft
It is dynamic；By the engagement between gear, by the transmission between gear, while according to the setting of transmission ratio by speed and Torque Control
Within a preset range, encoder is fixed on gear set, and the rotation of gear set drive encoder axis measures, obtains direction
Disk rotational angle and circle number pass through the longitudinal movement of the cooperation limiting gear group of top board and lower platen.
According to the above technical scheme, top board, lower platen pass through excessively to cooperate between Bearing outer and plate and tighten together,
Pass through the excessive cooperation fixed rotating shaft and bearing between bearing and shaft again, is cased with gear in shaft.It fixes in this way, energy
The longitudinal movement of enough limiting gear groups fully ensures that and engages steadily between gear that power transmission is reliable and stable, will not have on gear
The occurrence of lower shaking.
According to the above technical scheme, by the engaged transmission between the gear of gear set, torque increase and subtract simultaneously
Power is transferred to steering wheel lower part by gear set by low-rotate speed, then will by fixed-direction disk and the bolt of steering wheel lower part
Power is transferred to steering wheel.
According to the above technical scheme, motor is mutually fixed by motor tightening machine-processed rice with gear set, is fixed encoder by key
On gear set.
According to the above technical scheme, between steering wheel front and front glass, fixed bracket is installed, is stretched out on fixed bracket
Two cradling pieces reequip bearing of mechanism as steering wheel, while increase has cross bar between two stands bar.Improve fixed mechanism
Stability guarantees that the installation of steering wheel executing agency is firm.
According to the above technical scheme, including successively meshed gears one, gear two, gear three, gear four, motor in gear set
12 are fixed below lower platen, are fixed together motor and shaft coupling 13 by machine shaft hole, the connection of the shaft coupling other end
There is shaft one, while being cased with bearing four with lower platen contact position in shaft one, is cased with bearing one, bearing one with top board contact position
Top board is individually fixed in, in lower platen with bearing four, and the engaged transmission that gear one passes through between gear imparts power to gear
Two, gear two imparts power to gear three, and gear three imparts power to gear four, so that the rotation of steering wheel is driven, but
It is that such installation is equivalent to a cantilever mechanism, is not sufficiently stable reliably, while will cause large curved torque, so with steering wheel sheet
Body is fixed on steering wheel lower part as a supporting point, by gear four, and steering wheel is rotated together with gear four.To by power from
Motor is transferred on steering wheel.
According to the above technical scheme, it is provided with encoder shaft hole on gear one, is equipped with location hole around encoder shaft hole,
By location hole regular coding device on lower platen, rotated synchronously with gear one.Reach decelerating effect by gear ratio, side
Just encoder precise measurement motor rotational speed and circle number, the precise measurement of encoder form the closed loop control to motor turnning circle
System, the accurate control to steering wheel turnning circle and angle can be realized by pid algorithm.
The beneficial effect comprise that: it supports, can be reduced for former vehicle direction using steering wheel itself as one
The damage of disc mechanism；Next is fixedly connected with position and is predominantly located at steering wheel front, does not influence driver and enters and leaves driver's cabin, Neng Gou great
It is big to improve comfort and maneuverability；Finally, not needing to dismount or change to hold when being converted to pilot steering by unmanned mode
Row mechanism, driver presses ordinary operation steering wheel rotation, very convenient reliable, can freely turn between both of which
It changes, greatly improves working efficiency and navigability.This executing agency is installed on steering wheel lower part, passes through upper and lower plates limiting gear
One, two and three longitudinal movement range is driven transmitting power by gear one, two and three to drive the rotation of steering wheel, tail
Portion is connected to the motor by bearing is fixed on steering wheel front, can drive the rotation of steering wheel, while by steering wheel itself
As a supporting point, driving space is greatly saved and guarantees mechanism reliability.Front case is different therewith, mechanism of the present invention
Using steering wheel itself as a supporting point, tail portion also is secured on bracket as a supporting point, by steering wheel conduct itself
Where some innovative points that support proposes for this invention, the damage for former vehicle steering wheel mechanism can be reduced.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples, in attached drawing:
Fig. 1 is the unmanned engineering truck steering wheel repacking mechanism surface structure schematic diagram of the embodiment of the present invention；
Fig. 2 is the general structure schematic diagram that the unmanned engineering truck steering wheel of the embodiment of the present invention reequips mechanism；
Fig. 3 is the cross-sectional view that the unmanned engineering truck steering wheel of the embodiment of the present invention reequips mechanism；
Wherein, 1. top board, 2. bearings one, 3. bearings two, 4. bearings three, 5, lower platen, 6. location holes, 7. steering wheels,
8. shaft one, 9. shafts two, 10. shafts three, 11. gears one, 12. motors, 13. shaft couplings, 14. bearings four, 15. gears two,
16. bearing five, 17. gears three, 18. bearings six, 19. gears four.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that described herein, specific examples are only used to explain the present invention, not
For limiting the present invention.
In the embodiment of the present invention, as shown in Figure 1, this executing agency is installed on steering wheel lower part, limited by upper and lower plates
The longitudinal movement range of gear transmits power by gear drive to drive the rotation of steering wheel, and tail portion passes through bearing and electricity
Machine is fixedly connected in steering wheel front, can drive the rotation of steering wheel, while steering wheel itself also being supported as one
Point is greatly saved driving space and guarantees mechanism reliability.Front case is different therewith, and mechanism of the present invention is with steering wheel itself work
For a supporting point, tail portion also is secured on bracket as a supporting point, steering wheel itself is used as and is supported as this invention
Where some innovative points proposed, this is where reequiping maximum innovation with executing agency now, can reduce for former vehicle side
Damage to disc mechanism；In addition to this, steering wheel front to the gap between glass for vehicle window is taken full advantage of, will reasonably be fixed
Connection is placed in steering wheel front, does not influence driver and enters and leaves driver's cabin, will not occupy driver behavior space, can greatly improve easypro
Adaptive and maneuverability；Finally, not needing detaching structure when being converted to pilot steering by unmanned mode or change executing
Can pilot steering directly can be realized to the same steering wheel rotation of ordinary operation in mechanism, driver, very convenient reliable, Neng Gou
It freely converts, greatly improves work efficiency and navigability between both of which.
A kind of unmanned engineering truck steering wheel repacking mechanism is provided in the present embodiment, including steering wheel shaft, gear set,
Top board 1, lower platen 5, encoder, motor, using steering wheel as support, steering wheel lower part puts on gear set, by the electricity of tail portion
Machine output power drives gear set rotation, to drive the rotation of steering wheel shaft；By the engagement between gear, pass through tooth
Transmission between wheel, at the same according to the setting of transmission ratio by speed and Torque Control within a preset range, encoder is fixed on tooth
In wheel group, the rotation of gear set drive encoder axis is measured, and is obtained steering wheel rotational angle and circle number, is passed through top board
With the longitudinal movement of the cooperation limiting gear group of lower platen.There is different location in steering wheel repacking mechanism lower platen tail portion design
Mounting-positioning holes 6 can adjust tail portion installation height, improve the installation reliability of mechanism, according to the actual situation such as attached drawing 2, Fig. 3
Shown in.Machine shaft hole is installed after location hole, includes successively meshed gears one, gear two, gear three, tooth in gear set
Wheel four, motor 12 are fixed below lower platen, are fixed together motor and shaft coupling 13 by machine shaft hole, shaft coupling is another
One end is connected with shaft one, while being cased with bearing four with lower platen contact position in shaft one, is cased with bearing with top board contact position
One 2, bearing one and bearing 4 14 are individually fixed in top board, in lower platen, and the engaged transmission that gear one passes through between gear will be moved
Power passes to gear 2 15, and gear two imparts power to gear 3 17, and gear three imparts power to gear 4 19, thus band
The rotation of dynamic steering wheel, but installation is equivalent to a cantilever mechanism in this way, is not sufficiently stable reliably, while will cause large curved torsion
Square, so gear four is fixed on steering wheel lower part, steering wheel is with gear four using steering wheel itself as a supporting point
Rotation.To which power is transferred on steering wheel from motor.Encoder shaft hole, encoder shaft hole week are provided on gear one
It encloses and is equipped with location hole, by location hole regular coding device on lower platen, rotated synchronously with gear one.It is reached by gear ratio
To decelerating effect, facilitate encoder precise measurement motor rotational speed and circle number, the precise measurement of encoder, which is formed, turns motor
The closed-loop control of moving-coil number can realize the accurate control to 7 turnning circle of steering wheel and angle by pid algorithm.
When automatic Pilot, executing agency tail portion be equipped with motor, by control motor driven gear rotation, and upper lower platen it
Between the engaged transmission of gear one, two and three can not only be intact by power transmitting, while can also have the function that deceleration torque increase, tooth
Wheel covers upper shaft respectively, and by taking shaft 1 as an example, shaft one is solid by its excessive cooperation between four inner ring of bearing one and bearing
Due to together, at the same outside bearing one and bearing 4 14 by the excessive cooperation in hole between upper lower platen so that shaft one with it is upper
Lower platen is fixed, and relative position is kept not occur accordingly to change, so that fixed gear one is between upper lower platen, pressing plate passes through solid
Dead axle hold one and bearing four so that gear one is fixed between upper lower platen, remaining reason is identical, for shaft two, by with
Excessively cooperation is fixed together between five inner ring of bearing two and bearing, at the same outside bearing two and bearing five by with top board hole
Between excessively cooperation so that shaft two is fixed between lower platen, shaft three passes through mistake between six inner ring of bearing three and bearing
Degree cooperation is fixed together, while by excessively cooperating between top board hole so that shaft three is solid outside bearing three and bearing six
Due between upper lower platen, final power reaches steering wheel undergear four by the engaged transmission between gear, then by corresponding
Retaining element is bolted steering wheel and its underpart part, and power is transferred to upper direction disk from lower part by bolt, from
And the rotation of steering wheel is driven, while tail portion carries out deceleration processing equipped with other respective pinions at gear drive, so that
Revolving speed and torque all in an OK range, after encoder will be put on gear, added with can be right after absolute value encoder
The location information of steering wheel measures and carries out Real-time Feedback, and the angle that steering wheel rotates when obtaining per is accurate to carry out closed loop to it
Control, and by calculating the corresponding relations such as an engaged transmission ratio between gear, it specifies motor and rotates a pulse and side
To a corresponding relation between the variation of disk corner, so that finally reaching can be indirectly controlled by accurately controlling motor rotation
The accurate control of one of steering wheel rotational angle, in addition to this mechanism neither influences to drive between steering wheel and instrument board
Member nor affects on the reading to pointer parameter crucial on instrument board to the manipulation of steering wheel.When automatic Pilot power direction of transfer by
Motor reaches steering wheel, is accurately controlled by the rotation of program controlled motor steering wheel.
When manual drive mode, it is only necessary to motor is powered off, i.e., motor, encoder and gear are in free state,
It can arbitrarily be rotated when people's steering wheel rotation without influence namely when motor, encoder no power at this time, it will not be caused
Damage, while the reading power on next time after to the control of steering wheel and corner etc. will not be influenced, driver can picture at this time
Usually the same steering wheel rotation traveling, is not required to make other change, steering wheel also will drive gear, motor and encoder
Rotation has no effect to it due to power-off, can very simple completion two without carrying out the operation such as dismantling to executing agency
Switching between kind operating mode, without with similar executing agency also needing that executing agency is dismantled or moved before thinking
Corresponding operating, the trouble that will not seem with it is many and diverse, mode conversion between operation very simple it is reliable, meet real-time needs,
Greatly strengthen operability and applicability of the invention.
It should be understood that for those of ordinary skills, it can be modified or changed according to the above description,
And all these modifications and variations should all belong to the protection domain of appended claims of the present invention.
Claims (7)
1. a kind of unmanned engineering truck steering wheel reequips mechanism, which is characterized in that including steering wheel shaft, gear set, upper pressure
Plate, lower platen, encoder, motor, using steering wheel as support, steering wheel lower part puts on gear set, is exported by the motor of tail portion
Power drives gear set rotation, to drive the rotation of steering wheel shaft；Encoder is fixed on gear set, gear set drive
The rotation of encoder axis, measures, and obtains steering wheel rotational angle and circle number, is limited by the cooperation of top board and lower platen
The longitudinal movement of gear set.
2. unmanned engineering truck steering wheel according to claim 1 reequips mechanism, which is characterized in that top board, pushing
Plate, which passes through excessively to cooperate between Bearing outer and plate, to tighten together, then is fixed by the excessive cooperation between bearing and shaft
Shaft and bearing are cased with gear in shaft.
3. unmanned engineering truck steering wheel according to claim 1 or 2 reequips mechanism, which is characterized in that pass through gear
Engaged transmission between the gear of group carries out increase to torque and slows down revolving speed simultaneously, by gear set by the power side of being transferred to
Power is transferred to steering wheel to disk lower part, then by the bolt of fixed-direction disk and steering wheel lower part.
4. unmanned engineering truck steering wheel according to claim 1 or 2 reequips mechanism, which is characterized in that motor passes through
Motor tightening machine-processed rice is mutually fixed with gear set, and encoder is fixed on gear set by key.
5. unmanned engineering truck steering wheel according to claim 1 or 2 reequips mechanism, which is characterized in that in steering wheel
Between front and front glass, fixed bracket is installed, it is solid as steering wheel repacking mechanism that two cradling pieces are stretched out on fixed bracket
Fixed place, while increase has cross bar between two stands bar.
6. unmanned engineering truck steering wheel according to claim 1 or 2 reequips mechanism, which is characterized in that in gear set
Including successively meshed gears one, gear two, gear three, gear four, motor is fixed below lower platen, passes through machine shaft hole
Motor and shaft coupling are fixed together, the shaft coupling other end is connected with shaft one, while in shaft one with lower platen contact position
It is cased with bearing four, is cased with bearing one with top board contact position, bearing one and bearing four are individually fixed in top board, in lower platen,
The engaged transmission that gear one passes through between gear imparts power to gear two, and gear two imparts power to gear three, gear three
Gear four is imparted power to, to drive the rotation of steering wheel, gear four is fixed on steering wheel lower part, steering wheel is with gear
Four rotate together.
7. unmanned engineering truck steering wheel according to claim 6 reequips mechanism, which is characterized in that opened on gear one
There is an encoder shaft hole, location hole is equipped with around encoder shaft hole, by location hole regular coding device on lower platen, with tooth
Wheel one rotates synchronously.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810931074.5A CN109017973A (en) | 2018-08-15 | 2018-08-15 | A kind of unmanned engineering truck steering wheel repacking mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810931074.5A CN109017973A (en) | 2018-08-15 | 2018-08-15 | A kind of unmanned engineering truck steering wheel repacking mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109017973A true CN109017973A (en) | 2018-12-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810931074.5A Pending CN109017973A (en) | 2018-08-15 | 2018-08-15 | A kind of unmanned engineering truck steering wheel repacking mechanism |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20070104764A (en) * | 2006-04-24 | 2007-10-29 | 주식회사 로템 | Remote steering apparatus of the unmanned vehicle where the conversion of manual operation and automatic mode is possible |
| CN206307105U (en) * | 2016-12-01 | 2017-07-07 | 广州大学 | A kind of unmanned vehicle active front steering system |
| CN107054452A (en) * | 2017-03-16 | 2017-08-18 | 北京理工大学 | A kind of automatic driving vehicle autosteerer |
| CN206704290U (en) * | 2017-04-28 | 2017-12-05 | 鄂尔多斯市普渡科技有限公司 | A kind of steering mechanism for pilotless automobile |
| CN206826734U (en) * | 2017-06-19 | 2018-01-02 | 中国农业大学 | Motor driving direction disk transfer |
| CN108340965A (en) * | 2018-04-04 | 2018-07-31 | 辽宁工业大学 | The electronic automobile-used unmanned steering-by-wire mechanism of one kind and rotating direction control method |
-
2018
- 2018-08-15 CN CN201810931074.5A patent/CN109017973A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20070104764A (en) * | 2006-04-24 | 2007-10-29 | 주식회사 로템 | Remote steering apparatus of the unmanned vehicle where the conversion of manual operation and automatic mode is possible |
| CN206307105U (en) * | 2016-12-01 | 2017-07-07 | 广州大学 | A kind of unmanned vehicle active front steering system |
| CN107054452A (en) * | 2017-03-16 | 2017-08-18 | 北京理工大学 | A kind of automatic driving vehicle autosteerer |
| CN206704290U (en) * | 2017-04-28 | 2017-12-05 | 鄂尔多斯市普渡科技有限公司 | A kind of steering mechanism for pilotless automobile |
| CN206826734U (en) * | 2017-06-19 | 2018-01-02 | 中国农业大学 | Motor driving direction disk transfer |
| CN108340965A (en) * | 2018-04-04 | 2018-07-31 | 辽宁工业大学 | The electronic automobile-used unmanned steering-by-wire mechanism of one kind and rotating direction control method |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20181218 |
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| RJ01 | Rejection of invention patent application after publication |