CN112102708A - Distributed electric redundant steer-by-wire teaching mechanism - Google Patents
Distributed electric redundant steer-by-wire teaching mechanism Download PDFInfo
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- CN112102708A CN112102708A CN202011041947.9A CN202011041947A CN112102708A CN 112102708 A CN112102708 A CN 112102708A CN 202011041947 A CN202011041947 A CN 202011041947A CN 112102708 A CN112102708 A CN 112102708A
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Abstract
The invention discloses a distributed electric redundant steer-by-wire teaching mechanism which comprises a steering signal input mechanism, a steering driving mechanism and a corner demonstration mechanism, wherein redundant control of steer-by-wire is completed by driving a worm gear reducer and a planetary gear reducer through double motors. According to the invention, three working modes can be selectively set according to different teaching requirements, the traditional steering transmission mechanism is completely cancelled, the system complexity is reduced, the collapsing space of the steering system is increased, and the foresight of the steering system teaching knowledge is ensured. In addition, the redundant steering mechanism adopted by the invention can also provide technical reference for the research, development and upgrade of the intelligent networking automobile steering system.
Description
Technical Field
The invention relates to the field of intelligent networked automobile steer-by-wire teaching, in particular to a redundant steer-by-wire system teaching mechanism capable of restoring a steer-by-wire function of an intelligent networked automobile under the conditions of pure electric steering and unmanned driving and an electric steering function under a fault mode.
Background
The steer-by-wire system is one of the most important systems for the safety guarantee of the intelligent networked automobile, and is related to the intellectualization of the steering system and the intellectualization of the whole automobile. The electric wire control steering system completely cancels the connection of mechanical structures such as a steering column and the like on the traditional vehicle, can finish the appointed steering action only by depending on a motor, and simultaneously, due to the cancellation of the mechanical structures, the crumple space of the steering column is larger, thereby further ensuring the personal safety of a driver when the vehicle is in forward collision. The electric steer-by-wire system is required to have the intelligent networking automobile steer-by-wire function, and can ensure the safe steering redundancy function under the condition that electric elements such as a motor, a sensor and the like fail.
Chinese patent with application number CN20181312177.3 discloses a 'test bed for an automobile steering system', which adopts a traditional mechanical structure, an electric control steering mechanism and a steer-by-wire superposition mode to construct a system. However, the steering system keeps the traditional steering column structure, and the break-make between the steering columns is controlled by only depending on the clutch, so that the collapsing space of the steering system is limited.
Chinese patent No. CN201910107498.4 discloses "a vehicular steer-by-wire apparatus with redundant mechanism and control method", which considers the redundant technology of electric control and mechanical transmission of the steer-by-wire system. However, the steering column structure of the steering system keeps the traditional steering column structure, and the electric system is excessively relied on to control the on-off of the clutch and the work of the power-assisted steering motor, so that the collapsing space of the steering system is limited.
Chinese patent application No. CN201711173069.4 discloses a steer-by-wire steering system, which is based on mass production technology, and completes electronic power steering and steer-by-wire by on-off of a clutch. But the invention reserves the traditional steering column structure and needs to reserve a larger collapse space for the steering system.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a distributed electric redundant steer-by-wire teaching mechanism which can ensure the stability of a steering angle of a steering system, ensure the redundant execution of steering in a failure mode, reduce the complexity of the system and reduce the occupied space of the steering system.
In order to achieve the purpose, the invention adopts the technical scheme that:
a distributed electrically redundant steer-by-wire teaching mechanism comprising:
the steering signal input mechanism comprises a steering stepped shaft arranged along the horizontal direction, the right end of the steering stepped shaft is fixedly connected with a steering wheel through a spline, the left side of the steering stepped shaft is connected with a steering angle gear through a flat key, the steering angle gear is meshed and matched with a steering angle acquisition gear, the steering angle acquisition gear is connected with a steering angle encoder through a flat key, the steering angle encoder is connected with a computer through a signal line so as to transmit a steering angle signal of the steering stepped shaft to the computer, the right end of a torque sensor is fixed in a groove on the bottom wall of the steering stepped shaft, the left end of the torque sensor is fixedly connected with a road feel feedback gear through a bolt, the road feel feedback gear is meshed and matched with a road feel output gear, and an output shaft of the road feel motor is connected with the road feel output gear through a flat key so as to drive the road feel output gear to rotate in a vertical plane, the computer is connected with the road sensing motor through a driving wire harness to control the output torque of the road sensing motor, the steering stepped shaft is connected with a ball bearing fixed in a first bearing seat, the first bearing seat is fixed on a steering support frame through a support, and the steering support frame is horizontally fixed on the ground or the desktop of the test bed;
the composite speed reducer comprises a driving shaft arranged along the horizontal direction, the right end of the driving shaft is in interference fit with a ball bearing fixed in a second bearing seat, the second bearing seat is fixed on a steering support frame through a support, the driving shaft and the steering stepped shaft are coaxially arranged in the horizontal direction and are positioned on the left side of the steering stepped shaft, a redundant driving worm wheel is connected to the right end of the driving shaft through a flat key, the left wall of the redundant driving worm wheel is positioned through a shaft shoulder arranged on the driving shaft, and the redundant driving worm wheel is in meshing fit with a redundant driving worm;
one end of the redundant driving worm is connected with a ball bearing fixed in a third bearing seat, the third bearing seat is fixedly connected with the steering support frame through a support, the other end of the redundant driving worm is fixedly connected with an output shaft of a redundant driving motor through a redundant coupling, and the redundant driving motor is fixedly connected with the steering support frame through a redundant motor flange fixed on the support frame;
the left end of the driving shaft is provided with a sun gear, three planet gears are uniformly arranged around the sun gear, the three planet gears are in meshing fit with the sun gear, the planet gears are not in contact with each other, an output shaft is arranged in the middle of the left side wall of each planet gear, the output shaft is in interference fit with an inner ring of a planet gear bearing, an outer ring of the planet gear bearing is in interference fit with a planet gear support which is arranged on the left side of the three planet gears along the vertical direction, a worm gear ring is sleeved outside the three planet gears and is in meshing fit with outer teeth of the three planet gears through inner teeth on the inner wall of the worm gear ring, and outer teeth on the outer wall of the worm gear ring are in meshing fit with a;
one end of the driving worm is connected with a ball bearing fixed in a fourth bearing seat, the fourth bearing seat is fixedly connected with a speed reducer supporting frame through a support, the speed reducer supporting frame is fixed on the ground or the tabletop of a test bed when in use, the other end of the driving worm is fixedly connected with a horizontal output shaft of a steering driving motor through a driving coupling, and the steering driving motor is fixed on the speed reducer supporting frame through a driving motor flange;
the steering driving mechanism comprises a steering driving gear which is coaxially arranged with the planet wheel support, the right end of a gear shaft of the steering driving gear is coaxially and fixedly connected with the planet wheel support through a bolt, and the steering driving gear and the driving shaft are coaxially arranged in the horizontal direction;
the steering rack is meshed with the steering driving gear to drive the steering rack to move back and forth along the direction vertical to the axis of the steering driving gear, a row of V-groove bearings are respectively arranged in the bearing grooves on the left side and the right side of the steering rack along the moving direction of the steering rack, and each row of V-groove bearings are respectively in rolling fit with a V-shaped bulge on the side wall of the steering rack and a V-shaped bulge on the side wall of the bearing groove;
the corner demonstration mechanism comprises a hub brake disc which is arranged along the vertical direction, one end of a steering driving rod is rotatably connected with the front end of a steering rack through a pin shaft, the other end of the steering driving rod is rotatably connected with a rib plate on the hub brake disc through a pin shaft, an upper end pin shaft and a lower end pin shaft are respectively arranged on the inner wall of one side, facing the driving rack, of the hub brake disc along the same circumferential direction at intervals, the upper end pin shaft and the lower end pin shaft are coaxially arranged, one end of an upper supporting arm which is arranged along the horizontal direction is rotatably connected with the upper end pin shaft, and the other end of the upper supporting arm is welded and fixed on; the brake disc comprises a brake disc base, a lower supporting arm and a lower end pin shaft, wherein the lower supporting arm and the lower end pin shaft are arranged in the horizontal direction, the other end of the lower supporting arm is welded and fixed on the brake disc base, the axes of the upper supporting arm and the lower supporting arm are parallel to the central axis of the hub brake disc, and the brake disc base is fixed on the ground or a desktop.
The invention has the beneficial effects that: the invention adopts a combined type speed reducing structure formed by combining a planetary gear and a worm gear, the worm gear mechanism realizes the execution of the steering action when the system normally works, the self-locking performance of the worm gear ensures the stability of the turning angle of the steering system under the condition of electronic fault, and the planetary gear speed reducing mechanism can normally work, thereby ensuring the redundant execution of the steering under the fault mode; the invention completely cancels the mechanical connection between the steering wheel and the tail end steering mechanism, simulates the torque in the steering process through the feedback of the motor, simulates the rack and pinion transmission mechanism of the steering system of the real vehicle through the V-shaped groove rack and pinion mechanism, reduces the complexity of the system, reduces the occupied space of the steering system, simulates the intelligent network connection wire control steering function and the electric redundant steering function under the failure mode, can also realize the pure electric wire control steering function, and is convenient for the refitting operation of the intelligent network connection vehicle steering system; the electric wire control steering principle can be more visually displayed for the teaching of the middle-aged and senior people, and technical reference is provided for the mass production of real vehicles in the aspects of realizing electric steering and increasing collapse space.
Drawings
FIG. 1 is a perspective view of a distributed electrically redundant steer-by-wire teaching mechanism of the present invention;
FIG. 2 is a perspective view of the steer-by-wire teaching mechanism of FIG. 1 with the reducer cover and all support frames removed;
FIG. 2-1 is a top view of the compound retarder shown in FIG. 2;
FIG. 2-2 is a half sectional view in the A-A direction of the composite speed reducer shown in FIG. 2-1;
FIG. 3 is a top view of the turn signal input mechanism shown in FIG. 2;
FIG. 3-1 is a half sectional view in the direction B-B of the turn signal input mechanism shown in FIG. 3;
FIG. 4 is a top plan view of the portion of the steering drive mechanism shown in FIG. 2;
FIG. 4-1 is a cut-away view in the direction C-C of the steering drive mechanism shown in FIG. 4 with the corner demonstration mechanism removed;
fig. 5 is a perspective view of the rotation angle demonstration mechanism shown in fig. 2.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments.
The invention is mainly used for mechanism teaching of the steer-by-wire system of the high-rise colleges and universities, and simulates the electric steer-by-wire function, the steering torque simulation feedback function and the electric redundant steering function of an intelligent networked automobile through the cooperation of a mechanism and a motor.
The invention discloses a distributed electric redundant steer-by-wire teaching mechanism as shown in the attached drawings, which comprises:
turn to signal input mechanism, turn to signal input mechanism include the steering stepped shaft 2 that sets up along the horizontal direction 2 right-hand member of steering stepped shaft have a steering wheel 1 through spline fastening connection 2 left side of steering stepped shaft be connected with through the flat key and turn to angle gear 3, turn to angle gear 3 and the meshing cooperation of steering angle collection gear 7, the steering angle gather gear 7 and turn to angle encoder 6 and be connected through the flat key, the steering angle encoder 6 pass through the signal line and link to each other in order to transmit the steering angle signal that turns to stepped shaft 2 for the computer. The right end of a torque sensor 4 is fixed in a groove in the bottom wall of the steering stepped shaft 2, the left end of the torque sensor 4 is fixedly connected with a road sensing feedback gear 5 through a bolt, the road sensing feedback gear 5 is meshed and matched with a road sensing output gear 8, an output shaft of a road sensing motor 9 is connected with the road sensing output gear 8 through a flat key to drive the road sensing output gear 8 to rotate in a vertical plane, and a computer is connected with the road sensing motor 9 through a driving wire harness to control the output torque of the road sensing motor 9. The steering stepped shaft 2 is connected with a ball bearing fixed in a first bearing seat, the first bearing seat is fixed on a steering support frame 36 through a support, and the steering support frame 36 can be horizontally fixed on the ground or the table top of a test bed.
Composite reducer, composite reducer include the drive shaft 11 that sets up along the horizontal direction, the right-hand member of drive shaft 11 with fix the ball bearing interference fit in the second bearing frame, the second bearing frame pass through the support to be fixed on turning to carriage 36, drive shaft 11 with turn to 2 horizontal direction coaxial arrangements of step shaft and be located and turn to 2 left sides of step shaft, there is not mechanical connection between the two drive shaft 11 right-hand member be connected with redundant drive worm wheel 10 through the parallel key, redundant drive worm wheel 10 left wall fix a position through the shaft shoulder that sets up on drive shaft 11, redundant drive worm wheel 10 and a redundant drive worm 14 meshing cooperation.
A sun gear is arranged at the left end of the driving shaft 11, three planetary gears 29 are uniformly arranged around the sun gear, the three planetary gears 29 are in meshing fit with the sun gear, and the planetary gears 29 are not in contact with each other. An output shaft is arranged in the middle of the left side wall of each planetary gear 29 and is in interference fit with the inner ring of the planetary gear bearing, and the outer ring of the planetary gear bearing is in interference fit with a planetary gear support 31 which is arranged on the left side of the three planetary gears 29 along the vertical direction. A worm gear ring gear 12 is sleeved outside three planetary gears 29 and is in meshing fit with external teeth of the three planetary gears 29 through internal teeth on the inner wall of the worm gear ring gear 12, and external teeth on the outer wall of the worm gear ring gear 12 are in meshing fit with a driving worm 17.
Preferably, the drive shaft 11 located at the right side of the planetary gear 29 is disposed through a middle stepped hole of a cylindrical reducer cover 13, a reducer bearing 30 is installed in a left side hole of the middle stepped hole, an inner ring of the reducer bearing 30 is fitted over the drive shaft 11, and a left wall of the reducer bearing 30 is positioned by a shoulder disposed on the drive shaft 11. The side wall of the cylindrical reducer protective cover 13 is pressed on the top wall of the worm gear ring 12 and fixed between the worm gear ring and the worm gear ring through bolts.
The steering driving mechanism comprises a steering driving gear 20 which is coaxially arranged with a planet wheel support 31, the right end of a gear shaft of the steering driving gear 20 is coaxially and fixedly connected with the planet wheel support 31 through a bolt, the steering driving gear 20 and a driving shaft 11 are coaxially arranged in the horizontal direction, and direct mechanical connection is not formed between the steering driving gear 20 and the driving shaft 11.
The steering rack device is characterized in that a plurality of bearing groove supporting seats 25 are fixed on the ground or a table top, a bearing groove 24 is fixed on the plurality of bearing groove supporting seats 25, a steering rack 21 is fixed in the middle of the bearing groove 24 along the direction vertical to a gear shaft of the steering driving gear 20, and the steering rack 21 is meshed with the steering driving gear 20 to drive the steering rack 21 to move back and forth along the direction vertical to the axis of the steering driving gear. A row of V-groove bearings 23 are respectively arranged in the bearing grooves 24 on the left side and the right side of the steering rack 21 along the moving direction of the steering rack 21, and each row of V-groove bearings 23 are respectively matched with the V-shaped bulges on the side wall of the steering rack 21 and the V-shaped bulges on the side wall of the bearing groove 24 in a rolling manner.
It is preferable that a limit structure is provided on the steering rack 21 to limit the range of forward and backward movement of the steering rack 21 to a set position.
As an embodiment of the present invention, the limiting structure includes a limiting protrusion disposed on the lower side of the front end of the steering rack 21, when the steering rack 21 slides backwards and translates to a limiting position, the limiting protrusion clamps with the front end surface of the bearing groove 24 to limit the backward translation movement of the steering rack 21, a steering rack limiting rod 34 is fixedly connected to the rear end of the steering rack 21 through a bolt, when the steering rack 21 slides forwards and translates to the limiting position, the steering rack limiting rod 34 clamps with the rear ends of the two V-groove bearings 23 disposed at the rearmost end in the bearing groove 24 to limit the forward translation movement of the steering rack 21, and the limiting protrusion on the lower side of the front end of the steering rack 21 cooperates with the steering rack limiting rod 34 to limit the forward and backward translation limit position of the driving rack 21.
The corner demonstration mechanism comprises a hub brake disc 26 arranged in the vertical direction, one end of a steering driving rod 22 is rotatably connected with the front end of a steering rack 21 through a pin shaft, and the other end of the steering driving rod is rotatably connected with a ribbed plate on the hub brake disc 26 through a pin shaft. An upper end pin shaft and a lower end pin shaft are respectively arranged on the inner wall of one side of the hub brake disc 26 facing the driving rack 21 at intervals of 180 degrees along the same circumferential direction, the upper end pin shaft and the lower end pin shaft are coaxially arranged, one end of an upper supporting arm 27 arranged along the horizontal direction is rotatably connected with the upper end pin shaft, and the other end is welded and fixed on the brake disc base 28; a lower supporting arm 35 arranged along the horizontal direction is rotatably connected with the lower end pin shaft, the other end of the lower supporting arm is welded and fixed on the brake disc base 28, the axes of the upper supporting arm 27 and the lower supporting arm 35 are arranged in parallel with the central axis of the hub brake disc 26, and the brake disc base 28 is fixed on the ground or a table top.
The steering support frame 36, the speed reducer support frame 37, the bearing groove support base 25 and the brake disc base 28 are frame bodies welded according to the support requirements of each mechanism, and are mainly used for supporting and positioning the steer-by-wire mechanism.
In the using process, a computer is respectively connected with the steering angle encoder 6, the torque sensor 4, the road sensing motor 9, the redundant driving motor 15 and the steering driving motor 18 through control lines, and the computer receives a corner signal output by the steering angle encoder 6 and outputs the corner signal to the steering driving motor 18 and the redundant driving motor 15. After receiving the rotation angle signal, the computer controls the road sensing motor 9 to rotate reversely to output road sensing torque, and the road sensing torque is controlled by the computer and acquires output road sensing torque signals through the torque sensor 4. The computer determines whether to control the redundant driving motor 15 and the road sensing motor 9 to work according to the working mode selected by external operation, and the rotation angle signal determines the rotation speed and the angular displacement of the redundant driving motor 15 and the steering driving motor 18.
The invention discloses a distributed electric redundant steer-by-wire teaching mechanism, which has three working modes, namely a steer-by-wire driver control mode, a steer-by-wire unmanned driving mode and a fault electric control redundant mode, wherein a computer is respectively connected with a steering angle encoder 6, a torque sensor 4, a road sensing motor 9, a redundant driving motor 15 and a steering driving motor 18 through control lines;
the control mode of the drive-by-wire driver comprises the following control steps:
the computer selects the system working mode as a drive-by-wire driver control mode, the driver controls a steering wheel 1 connected to the right end of a steering stepped shaft 2 through a spline to perform steering action, the steering action is transmitted to a steering angle gear 3 fixed on the steering stepped shaft 2 through the steering stepped shaft 2 connected with the steering wheel 1, the steering angle gear 3 drives a steering angle acquisition gear 7 to rotate in a vertical plane through meshing, the steering angle acquisition gear 7 is fixed on a steering angle encoder 6, the rotating direction, the rotating angle and the rotating speed of the steering wheel are acquired through the steering angle encoder 6 and transmitted to the computer, the computer outputs a control signal to a road feel motor 9 to enable the road feel motor 9 and the steering wheel 1 to rotate reversely and synchronously, and a road feel output gear 8 connected with an output shaft of the road feel motor 9 through a flat key is meshed with a road feel feedback gear 5 to drive the road feel feedback gear 5 to rotate, the road sense torque generated by the road sense motor 9 is transmitted to the steering stepped shaft 2 through the torque sensor 4 fixedly connected with the road sense feedback gear 5 through a bolt, and finally the road sense torque is fed back to the steering wheel 1. When the road sensing motor 9 acts, the computer controls the rotating shaft of the steering driving motor 18 to rotate synchronously, the rotating shaft of the steering driving motor 18 drives the driving worm 17 to rotate, the driving worm 17 is meshed with the external teeth on the outer wall of the worm gear ring 12 to drive the three planetary gears 29 meshed with the internal teeth of the worm gear ring 12 to rotate synchronously in the vertical plane, and the planetary gears 29 drive the planetary gear supports 31 positioned on the left sides of the three planetary gears 29 to rotate synchronously and synchronously in the vertical plane. The right end of the gear shaft and the planet wheel support 31 are coaxially and fixedly connected through a bolt, the steering driving gear 20 continuously transmits rotation to a steering rack 21 meshed with the driving gear 20, the steering rack 21 moves back and forth along the direction vertical to the axis of the steering driving gear under the driving of the driving gear 20, and the steering rack 21 drives the hub brake disc 26 to rotate around the axis where the upper end pin shaft and the lower end pin shaft are located through the steering driving rod 22. In the control mode of the driver by wire, the redundant driving motor 15 is electrified but does not execute any action, and the locking of the position of the sun gear is completed through the worm gear mechanism.
The drive-by-wire unmanned driving mode comprises the following control steps:
the computer selects the working mode of the system as a drive-by-wire unmanned driving mode, a rotating shaft of a steering driving motor 18 arranged along the horizontal direction drives a driving worm 17 to rotate, the driving worm 17 is meshed with external teeth on the outer wall of a worm gear ring 12 to drive three planetary gears 29 meshed with internal teeth of the worm gear ring 12 to synchronously rotate in a vertical plane, and the planetary gears 29 drive a planetary gear support 31 to synchronously rotate in the same direction. The planet wheel support 31 transmits rotation to the steering rack 21 to drive the steering rack 21 to move back and forth along the direction vertical to the axis of the steering driving gear, and the steering rack 21 drives the wheel hub brake disc 26 to rotate around the axes of the upper end pin shaft and the lower end pin shaft through the steering driving rod 22. In the drive-by-wire unmanned driving mode, a driver does not contact the steering wheel 1, only the steering driving motor 18 works, the redundant driving motor 15 is electrified but does not perform any action, and the locking of the position of the sun gear is completed through the worm gear mechanism.
The fault electric control redundancy mode comprises the following control steps:
the computer selects a system working mode as a fault electric control redundant mode, a driver controls a steering wheel 1 connected to the right end of a steering stepped shaft 2 through a spline to perform steering action, the steering action is transmitted to a steering angle gear 3 fixed on the steering stepped shaft 2 through the steering stepped shaft 2 connected with the steering wheel 1, the steering angle gear 3 drives a steering angle acquisition gear 7 to rotate in a vertical plane through meshing, the steering angle acquisition gear 7 is fixed on a steering angle encoder 6, and the rotation direction, the rotation angle and the rotation speed of the steering wheel are acquired through the steering angle encoder 6 and transmitted to the computer. When the computer collects the rotation direction, rotation angle and rotation speed signals of the steering wheel output by the steering angle encoder 6, the computer outputs control signals to the redundant driving motor 15 to enable an output shaft arranged along the horizontal direction of the redundant driving motor to synchronously rotate, a rotation shaft of the redundant driving motor 15 drives the redundant driving worm 14 to rotate, the redundant driving worm 14 is in gear engagement with the redundant driving worm wheel 10 to drive the driving shaft 11 fixedly connected with the redundant driving worm wheel 10 through a flat key to synchronously rotate, a sun gear arranged at the left end of the driving shaft 11 is driven by the driving shaft 11 to rotate, three planetary gears 29 uniformly arranged around the sun gear are in gear engagement with the sun gear to rotate, and the three planetary gears 29 drive the planetary gear support 31 to synchronously rotate in the same direction in a vertical plane. The planet wheel support 31 transmits rotation to the steering rack 21 and drives the steering rack 21 to move back and forth along the direction vertical to the axis of the steering driving gear, and the steering rack 21 drives the wheel hub brake disc 26 to rotate around the axes of the upper end pin shaft and the lower end pin shaft through the steering driving rod 22. Under the fault electric control redundancy mode, the steering driving motor 18 is powered off, the worm gear and the gear ring 12 are moved and self-locked through the worm gear mechanism, the planetary gear 29 is driven through the sun gear to achieve the purposes of reducing the rotating speed and increasing the torque, and the steering stability under the fault mode is improved.
Claims (4)
1. The utility model provides a distributed electronic redundant steer-by-wire teaching mechanism which characterized in that includes:
the steering signal input mechanism comprises a steering stepped shaft arranged along the horizontal direction, the right end of the steering stepped shaft is fixedly connected with a steering wheel (1) through a spline, the left side of the steering stepped shaft is connected with a steering angle gear (3) through a flat key, the steering angle gear is meshed with a steering angle acquisition gear (7) in a matched manner, the steering angle acquisition gear is connected with a steering angle encoder (6) through a flat key, the steering angle encoder (6) is connected with a computer through a signal line so as to transmit a steering angle signal of the steering stepped shaft to the computer, the right end of a torque sensor (4) is fixed in a groove on the bottom wall of the steering stepped shaft, the left end of the torque sensor is fixedly connected with a road feel feedback gear (5) through a bolt, and the road feel feedback gear is meshed with a road feel output gear (8), an output shaft of a road sensing motor (9) is connected with a road sensing output gear (8) through a flat key to drive the road sensing output gear to rotate in a vertical plane, a computer is connected with the road sensing motor (9) through a driving wire harness to control the output torque of the road sensing motor, a steering stepped shaft is connected with a ball bearing fixed in a first bearing seat, the first bearing seat is fixed on a steering support frame (36) through a support, and the steering support frame is horizontally fixed on the ground or the desktop of a test bed;
the composite speed reducer comprises a driving shaft (11) arranged along the horizontal direction, the right end of the driving shaft is in interference fit with a ball bearing fixed in a second bearing seat, the second bearing seat is fixed on a steering support frame through a support, the driving shaft and the steering stepped shaft are coaxially arranged in the horizontal direction and are positioned on the left side of the steering stepped shaft, a redundant driving worm wheel (10) is connected to the right end of the driving shaft through a flat key, the left wall of the redundant driving worm wheel is positioned through a shaft shoulder arranged on the driving shaft (11), and the redundant driving worm wheel (10) is in meshing fit with a redundant driving worm (14);
one end of the redundant driving worm is connected with a ball bearing fixed in a third bearing seat, the third bearing seat is fixedly connected with the steering support frame through a support, the other end of the redundant driving worm is fixedly connected with an output shaft of a redundant driving motor (15) through a redundant coupling (33), and the redundant driving motor is fixedly connected with the steering support frame through a redundant motor flange (16) fixed on the support frame;
a sun gear is arranged at the left end of the driving shaft (11), three planet gears (29) are uniformly arranged around the sun gear, the three planet gears are in meshing fit with the sun gear, the planet gears are not in contact with each other, an output shaft is arranged in the middle of the left side wall of each planet gear, the output shaft is in interference fit with an inner ring of a planet gear bearing, an outer ring of the planet gear bearing is in interference fit with a planet gear support (31) which is arranged at the left side of the three planet gears along the vertical direction, a worm gear ring gear (12) is sleeved outside the three planet gears and is in meshing fit with outer teeth of the three planet gears through inner teeth on the inner wall of the worm gear ring gear, and the outer teeth on the outer wall of the worm gear ring gear are in meshing fit with;
one end of the driving worm is connected with a ball bearing fixed in a fourth bearing seat, the fourth bearing seat is fixedly connected with a speed reducer supporting frame (37) through a support, the speed reducer supporting frame is fixed on the ground or the tabletop of a test bed when in use, the other end of the driving worm is fixedly connected with a horizontal output shaft of a steering driving motor (18) through a driving coupling (32), and the steering driving motor is fixed on the speed reducer supporting frame (37) through a driving motor flange (19);
the steering driving mechanism comprises a steering driving gear (20) which is coaxially arranged with the planet wheel support (31), the right end of a gear shaft of the steering driving gear is coaxially and fixedly connected with the planet wheel support through a bolt, and the steering driving gear and the driving shaft (11) are coaxially arranged in the horizontal direction;
a plurality of bearing groove supporting seats (25) are fixed on the ground or a desktop, a bearing groove (24) is fixed on the plurality of bearing groove supporting seats, a steering rack (21) is fixed in the middle of the bearing groove along the direction vertical to a gear shaft of a steering driving gear (20), the steering rack is meshed with the steering driving gear to drive the steering rack to move back and forth along the direction vertical to the axis of the steering driving gear, a row of V-groove bearings (23) are respectively arranged in the bearing grooves on the left side and the right side of the steering rack along the moving direction of the steering rack, and each row of V-groove bearings are respectively in rolling fit with a V-shaped bulge on the side wall of the steering rack and a V-shaped bulge on the side wall of the bearing groove;
the corner demonstration mechanism comprises a hub brake disc (26) which is arranged along the vertical direction, one end of a steering driving rod (22) is rotatably connected with the front end of a steering rack (21) through a pin shaft, the other end of the steering driving rod is rotatably connected with a rib plate on the hub brake disc through a pin shaft, an upper end pin shaft and a lower end pin shaft are respectively arranged on the inner wall of one side of the hub brake disc, facing the driving rack, at intervals of 180 degrees along the same circumferential direction, the upper end pin shaft and the lower end pin shaft are coaxially arranged, one end of an upper supporting arm (27) which is arranged along the horizontal direction is rotatably connected with the upper end pin shaft, and the other end of the upper supporting arm is welded and fixed on; a lower supporting arm (35) arranged along the horizontal direction is rotatably connected with a lower end pin shaft, the other end of the lower supporting arm is welded and fixed on the brake disc base, the axes of the upper supporting arm and the lower supporting arm are arranged in parallel with the central axis of the hub brake disc, and the brake disc base is fixed on the ground or a desktop.
2. The distributed electrically redundant steer-by-wire teaching mechanism of claim 1, wherein: the driving shaft on the right side of the planetary gear penetrates through a middle stepped hole of a cylindrical speed reducer protective cover (13), a speed reducer bearing (30) is installed in a left side hole of the middle stepped hole, an inner ring of the speed reducer bearing is sleeved on the driving shaft, the left wall of the speed reducer bearing is positioned through a shaft shoulder arranged on the driving shaft, and the side wall of the cylindrical speed reducer protective cover is pressed on the top wall of a worm gear ring and fixed between the top wall of the worm gear ring and the top wall of the worm gear ring through a bolt.
3. The distributed electrically redundant steer-by-wire teaching mechanism of claim 1, wherein: and a limiting structure is arranged on the steering rack so as to limit the forward and backward movement range of the steering rack at a setting position.
4. The distributed electrically redundant steer-by-wire teaching mechanism of claim 3, wherein: limiting structure including setting up the spacing arch at steering rack front end downside, when steering rack backsliding translation to limiting position, spacing arch and bearing groove preceding terminal surface chucking have a steering rack gag lever post with the backward translation motion of restriction steering rack the rear end of steering rack has a steering rack gag lever post through bolt-up connection, works as the steering rack when sliding translation to limiting position forward, steering rack gag lever post and two V groove bearing rear ends chucking that arrange at the bearing inslot rearmost end in order to restrict the forward translation motion of steering rack.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011041947.9A CN112102708A (en) | 2020-09-28 | 2020-09-28 | Distributed electric redundant steer-by-wire teaching mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011041947.9A CN112102708A (en) | 2020-09-28 | 2020-09-28 | Distributed electric redundant steer-by-wire teaching mechanism |
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| Publication Number | Publication Date |
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| CN112102708A true CN112102708A (en) | 2020-12-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011041947.9A Withdrawn CN112102708A (en) | 2020-09-28 | 2020-09-28 | Distributed electric redundant steer-by-wire teaching mechanism |
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| CN (1) | CN112102708A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113022452A (en) * | 2021-04-27 | 2021-06-25 | 重庆大学 | Adjusting device of automobile rearview mirror, rearview mirror and adjusting method |
| CN115973263A (en) * | 2022-12-20 | 2023-04-18 | 吉林大学 | Redundant double-motor steering mechanism and control method thereof |
| CN116810446A (en) * | 2023-08-25 | 2023-09-29 | 淄博纽氏达特行星减速机有限公司 | Device for clamping and displacing machine tool |
| CN116929243A (en) * | 2023-03-08 | 2023-10-24 | 武汉纺织大学 | High-altitude fixed three-dimensional scene redrawing laser scanning device |
-
2020
- 2020-09-28 CN CN202011041947.9A patent/CN112102708A/en not_active Withdrawn
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113022452A (en) * | 2021-04-27 | 2021-06-25 | 重庆大学 | Adjusting device of automobile rearview mirror, rearview mirror and adjusting method |
| CN115973263A (en) * | 2022-12-20 | 2023-04-18 | 吉林大学 | Redundant double-motor steering mechanism and control method thereof |
| CN116929243A (en) * | 2023-03-08 | 2023-10-24 | 武汉纺织大学 | High-altitude fixed three-dimensional scene redrawing laser scanning device |
| CN116810446A (en) * | 2023-08-25 | 2023-09-29 | 淄博纽氏达特行星减速机有限公司 | Device for clamping and displacing machine tool |
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Application publication date: 20201218 |