CN111376970A - Automatic and manual auto-change over device of unmanned equation motorcycle race a steering system - Google Patents
Automatic and manual auto-change over device of unmanned equation motorcycle race a steering system Download PDFInfo
- Publication number
- CN111376970A CN111376970A CN202010319904.6A CN202010319904A CN111376970A CN 111376970 A CN111376970 A CN 111376970A CN 202010319904 A CN202010319904 A CN 202010319904A CN 111376970 A CN111376970 A CN 111376970A
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- steering
- gear
- automatic
- shell
- electromagnet
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- 238000000926 separation method Methods 0.000 claims abstract description 6
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 5
- 238000013016 damping Methods 0.000 claims description 5
- 241000270281 Coluber constrictor Species 0.000 claims description 3
- OQZCSNDVOWYALR-UHFFFAOYSA-N flurochloridone Chemical compound FC(F)(F)C1=CC=CC(N2C(C(Cl)C(CCl)C2)=O)=C1 OQZCSNDVOWYALR-UHFFFAOYSA-N 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 3
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D3/00—Steering gears
- B62D3/02—Steering gears mechanical
- B62D3/12—Steering gears mechanical of rack-and-pinion type
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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
- B62D5/0421—Electric motor acting on or near 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
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
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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 an automatic and manual switching device of an unmanned formula car steering system. The active steering device and the automatic steering power device can interact and separate, and the automatic steering power device is connected with the gear separation and engagement device. The scheme has the beneficial effects that the automatic steering and the active steering can be switched by one key. Meanwhile, when the steering is actively steered, the automatic steering device is completely separated from the original steering system, so that extra steering resistance cannot be generated, and the damage to a steering engine in the active steering process is avoided.
Description
Technical Field
The invention belongs to the technical field of automatic driving, and particularly relates to a device capable of realizing automatic and manual switching of an unmanned formula car steering system.
Background
On the basis of pure electric formula racing cars, the racing cars can have more stable and reliable steering running performance by realizing the structural design of an unmanned steering system and the structural optimization design combining the unmanned steering system and the unmanned steering system. This is also the most fundamental and important part of the autonomous decision-making turn of a racing car. The racing car can automatically identify the road condition of the racing track and automatically complete steering driving. The front edge and hot spot problems of the current vehicle engineering technical field of the automatic driving technology realize the mode conversion of the formula racing car through the rigorous design of a human-computer co-driving mechanical structure, and further can realize the reliable perception and the dynamic action decision of the external environment of the racing car by matching with the effective fusion of machine vision and laser radar information, thereby realizing the reliable steering control of the whole car. The existing steering system of the unmanned formula racing car is not provided with an automatic manual switching device, so that a racer can feel resistance from the automatic steering system when driving actively, and meanwhile, the automatic steering motor can be damaged to a certain extent when the active steering system operates.
Disclosure of Invention
The invention aims to provide a device capable of switching automatic steering and manual steering, and solves the problem that the two devices influence each other at present.
The technical scheme of the invention is as follows:
an automatic and manual switching device of an unmanned formula car steering system comprises an active steering device, an automatic steering power device and a gear meshing and separating device;
the active steering device and the automatic steering power device can interact and separate, and the automatic steering power device is connected with the gear separation and engagement device;
the active steering device comprises a gear shaft 1, a deep groove ball bearing 2, a steering rack 3, a rack limiting shell 4, a shell support 5, a linear bearing 6, a bearing retainer ring 7 and a steering gear shell lower end cover 8; the gear shaft 1 is rotatably connected with a lower end cover 8 of a steering gear shell through a deep groove ball bearing 2, the gear shaft 1 is meshed with a steering rack 3, the steering rack 3 is slidably connected with a rack limiting shell 4 through a linear bearing 6, the linear bearing 6 is fixedly connected with the rack limiting shell 4 through a clamp spring, and the rack limiting shell 4 is fixedly connected with a shell support 5;
the automatic steering power device comprises a driven gear 9, a driving gear 10, a steering engine 11, a damped micro sliding rail 12, a steering engine bracket 13 and a gear fixing plate 14; a steering engine 11 is fixedly connected with a steering engine support 13, a rotating shaft in the steering engine 11 is fixedly connected with a driving gear 10, the steering engine support 13 is slidably connected with a damping micro sliding rail 12, the driving gear 10 is rotatably connected with a gear fixing plate 14 through a deep groove ball bearing 2, the gear fixing plate 14 is slidably connected with a lower end cover 8 of a steering gear shell, a driven gear 9 is rotatably connected with the lower end cover 8 of the steering gear shell through the deep groove ball bearing 2, and the driven gear 9 is completely meshed with a gear shaft 1;
the gear separation and engagement device comprises a spring 15, a direct-current electromagnet 16, an electromagnet core 18 and an electromagnet support 17; an electromagnet iron core 18 is fixedly connected with the steering engine support 13, and a direct-current electromagnet 16 is fixedly connected with an electromagnet support 17.
The invention has the beneficial effects that: the automatic and manual switching device of the steering system of the formula racing car can switch automatic steering and active steering by one key. Meanwhile, when the steering is actively steered, the automatic steering device is completely separated from the original steering system, so that extra steering resistance cannot be generated, and the damage to a steering engine in the active steering process is avoided.
Drawings
FIG. 1 is a schematic diagram of the mechanism of the present invention;
FIG. 2 is a schematic view of an active steering device;
FIG. 3 is a schematic view of an automatic steering power plant;
fig. 4 is a schematic view of the gear disengaging and engaging apparatus.
In the figure: 1, a gear shaft; 2, deep groove ball bearings; 3 a steering rack; 4, a rack limiting shell; 5, a shell support;
6, a linear bearing; 7 bearing retainer rings; 8, a lower end cover of the steering gear shell; 9 a driven gear; 10 a driving gear;
11 a steering engine; 12 damping slide rails are arranged; 13 a steering engine bracket; 14 a gear fixing plate; 15 springs; 16 direct current type electromagnet; 17 an electromagnet support; 18 electromagnet cores.
Detailed Description
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.
As shown in figure 1, the structure of the invention consists of three parts, namely an active steering device, an automatic steering power device and a gear meshing and separating device.
As shown in fig. 2, the active steering device comprises a gear shaft 1, a deep groove ball bearing 2, a steering rack 3, a rack limit housing 4, a housing support 5, a linear bearing 6, a bearing retainer ring 7 and a steering gear housing lower end cover 8; the gear shaft 1 is rotatably connected with a lower end cover 8 of a steering gear shell through a deep groove ball bearing 2, the steering rack 3 is slidably connected with the rack limiting shell 4 through a linear bearing 6, the linear bearing 6 is fixedly connected with the rack limiting shell 4 through a bearing retainer ring 7, and the rack limiting shell 4 is fixedly connected with a shell support 5.
As shown in fig. 3, the automatic steering power device comprises a steering engine 11, a damped micro slide rail 12, an engine support 13, a driving gear 10, a driven gear 9 and a gear fixing plate 14;
steering engine 11 and steering engine support 13 fixed connection, the pivot in the steering engine 11 and driving gear 10 fixed connection, steering engine support 13 with have miniature slide rail 12 sliding connection of damping, driving gear 10 and gear fixing plate 14 rotate through deep groove ball bearing 2 and be connected, gear fixing plate 14 and steering gear casing lower end cover 8 sliding connection, driven gear 9 and steering gear casing lower end cover 8 rotate through deep groove ball bearing 2 and be connected, driven gear 9 and gear shaft 1 complete meshing.
As shown in fig. 4, the gear separation and engagement device includes a dc electromagnet 16, an electromagnet core 18, a spring 15, and an electromagnet support 17. The electromagnet iron core 18 and the spring 15 belong to the components of the direct current electromagnet 16, the direct current electromagnet 16 is fixedly connected with the electromagnet support 17, and the electromagnet iron core 18 is fixedly connected with the steering engine support 17 so as to drive the steering engine gear to move.
The working process of the whole system is as follows: when the direct current type electromagnet 16 is not electrified, the system is in an automatic driving mode, the driving gear 10 is completely meshed with the driven gear 9, the steering engine 11 rotates by a corresponding angle according to signals given by the equation car information acquisition system and the control system to drive the driving gear 10 to rotate, the rotating angle is transmitted to the gear shaft 1 through the fixed-axis gear system, and then the steering rack 3 is driven to translate to achieve automatic steering.
When the direct current type electromagnet 16 is electrified, the system is switched to an active driving mode, the electromagnet iron core 18 can translate towards the direction far away from the gear to drive the steering engine support 13 to translate, and the steering engine 11 and the driving gear 10 translate through the damping slide rail 12, so that the steering engine 11 and the driving gear 10 are separated from the original gear train. At the moment, the driver drives the formula car to be the same as the common formula car with people, and the active steering device and the automatic steering device are completely separated and do not interfere with each other.
Claims (1)
1. The automatic and manual switching device of the steering system of the formula racer is characterized in that the automatic and manual switching device of the steering system of the formula racer comprises an active steering device, an automatic steering power device and a gear meshing and separating device;
the active steering device and the automatic steering power device can interact and separate, and the automatic steering power device is connected with the gear separation and engagement device;
the active steering device comprises a gear shaft (1), a deep groove ball bearing (2), a steering rack (3), a rack limiting shell (4), a shell support (5), a linear bearing (6), a bearing retainer ring (7) and a steering gear shell lower end cover (8); the gear shaft (1) is rotatably connected with a lower end cover (8) of a steering gear shell through a deep groove ball bearing (2), the gear shaft (1) is meshed with a steering rack (3), the steering rack (3) is slidably connected with a rack limiting shell (4) through a linear bearing (6), the linear bearing (6) is fixedly connected with the rack limiting shell (4) through a snap spring, and the rack limiting shell (4) is fixedly connected with a shell support (5);
the automatic steering power device comprises a driven gear (9), a driving gear (10), a steering engine (11), a miniature sliding rail (12) with damping, an engine support (13) and a gear fixing plate (14); a steering engine (11) is fixedly connected with an engine support (13), a rotating shaft in the steering engine (11) is fixedly connected with a driving gear (10), the engine support (13) is slidably connected with a damped micro sliding rail (12), the driving gear (10) is rotatably connected with a gear fixing plate (14) through a deep groove ball bearing (2), the gear fixing plate (14) is slidably connected with a lower end cover (8) of a steering gear shell, a driven gear (9) is rotatably connected with the lower end cover (8) of the steering gear shell through the deep groove ball bearing (2), and the driven gear (9) is completely meshed with a gear shaft (1);
the gear separation and engagement device comprises a spring (15), a direct-current electromagnet (16), an electromagnet core (18) and an electromagnet support (17); an electromagnet iron core (18) is fixedly connected with the steering engine bracket (13), and a direct-current electromagnet (16) is fixedly connected with an electromagnet bracket (17).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010319904.6A CN111376970A (en) | 2020-04-22 | 2020-04-22 | Automatic and manual auto-change over device of unmanned equation motorcycle race a steering system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010319904.6A CN111376970A (en) | 2020-04-22 | 2020-04-22 | Automatic and manual auto-change over device of unmanned equation motorcycle race a steering system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111376970A true CN111376970A (en) | 2020-07-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010319904.6A Pending CN111376970A (en) | 2020-04-22 | 2020-04-22 | Automatic and manual auto-change over device of unmanned equation motorcycle race a steering system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111376970A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112101128A (en) * | 2020-08-21 | 2020-12-18 | 东南大学 | Unmanned formula racing car perception planning method based on multi-sensor information fusion |
| CN113184042A (en) * | 2021-04-30 | 2021-07-30 | 东南大学 | Switching device for manned steering and unmanned steering of unmanned formula car |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09164971A (en) * | 1995-12-14 | 1997-06-24 | Yamaha Motor Co Ltd | Automatic and manual change-over type steering gear of vehicle |
| 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 |
| KR20110115802A (en) * | 2010-04-16 | 2011-10-24 | 경상대학교산학협력단 | Steering apparatus providing manual steering mode, automatic steering mode, and remote steering mode |
| CN106585706A (en) * | 2016-11-28 | 2017-04-26 | 施春燕 | Steering control device for pilotless automobile |
| CN108357554A (en) * | 2018-01-18 | 2018-08-03 | 东南大学 | A kind of general transfer of driverless tractor and automatic mode switching method |
| CN109481918A (en) * | 2018-12-18 | 2019-03-19 | 常州泰德高尔夫用品有限公司 | A kind of Multifunctional golf ball vehicle |
| CN212099046U (en) * | 2020-04-22 | 2020-12-08 | 大连理工大学 | Automatic and manual auto-change over device of unmanned equation motorcycle race a steering system |
-
2020
- 2020-04-22 CN CN202010319904.6A patent/CN111376970A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09164971A (en) * | 1995-12-14 | 1997-06-24 | Yamaha Motor Co Ltd | Automatic and manual change-over type steering gear of vehicle |
| 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 |
| KR20110115802A (en) * | 2010-04-16 | 2011-10-24 | 경상대학교산학협력단 | Steering apparatus providing manual steering mode, automatic steering mode, and remote steering mode |
| CN106585706A (en) * | 2016-11-28 | 2017-04-26 | 施春燕 | Steering control device for pilotless automobile |
| CN108357554A (en) * | 2018-01-18 | 2018-08-03 | 东南大学 | A kind of general transfer of driverless tractor and automatic mode switching method |
| CN109481918A (en) * | 2018-12-18 | 2019-03-19 | 常州泰德高尔夫用品有限公司 | A kind of Multifunctional golf ball vehicle |
| CN212099046U (en) * | 2020-04-22 | 2020-12-08 | 大连理工大学 | Automatic and manual auto-change over device of unmanned equation motorcycle race a steering system |
Non-Patent Citations (1)
| Title |
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| 姚庆旺;李景彬;张雄楚;温宝琴;: "拖拉机自动导航单因子控制***设计", 农机化研究, no. 08, 22 November 2018 (2018-11-22) * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112101128A (en) * | 2020-08-21 | 2020-12-18 | 东南大学 | Unmanned formula racing car perception planning method based on multi-sensor information fusion |
| CN113184042A (en) * | 2021-04-30 | 2021-07-30 | 东南大学 | Switching device for manned steering and unmanned steering of unmanned formula car |
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