CN216084076U

CN216084076U - Driving simulation device

Info

Publication number: CN216084076U
Application number: CN202122499957.3U
Authority: CN
Inventors: 李康; 王兴东
Original assignee: FAW Group Corp
Current assignee: FAW Group Corp
Priority date: 2021-10-18
Filing date: 2021-10-18
Publication date: 2022-03-18
Anticipated expiration: 2031-10-18

Abstract

The utility model belongs to the technical field of automatic driving and discloses a driving simulation device. The driving simulation apparatus includes: a chassis and a driving simulation platform; the first driving source is arranged on the chassis, the output end of the first driving source is connected to the driving simulation platform, the first driving source can drive the driving simulation platform to move along the X direction, the Y direction and the Z direction and rotate along the X direction, the Y direction and the Z direction respectively, and the X direction, the Y direction and the Y direction are mutually vertical in pairs; the Mecanum wheel system is arranged at the bottom of the chassis and can drive the driving simulation platform to move along the X direction, move along the Y direction and rotate in place through the chassis. This drive analogue means passes through mutually supporting of mecanum train and first driving source, and area is less, reduces the installation degree of difficulty, reduces manufacturing cost, and drives the motion that simulation platform can realize complicacy, and the direction of motion is abundant, and sensitivity is high.

Description

Driving simulation device

Technical Field

The utility model relates to the technical field of automatic driving, in particular to a driving simulation device.

Background

An automatic driving automobile is also called an unmanned automobile, a computer driving automobile or a wheeled mobile robot, and is an intelligent automobile which realizes unmanned driving through a computer system. Autonomous vehicles rely on the cooperative use of artificial intelligence, visual computing, radar, monitoring devices, and global positioning systems to automatically and safely operate the motor vehicle without any human active operation.

At present, with the development of intelligent driving technology, driving simulation devices are receiving more and more attention. The existing driving simulation device comprises a driving simulation motion platform and a mounting platform, wherein a transverse guide rail is transversely arranged on the mounting platform, a longitudinal guide rail is longitudinally arranged on the mounting platform, and the transverse guide rail and the longitudinal guide rail are perpendicular to each other. The linear motor drives the mounting platform to move along the transverse guide rail and the longitudinal guide rail. In this way, the following drawbacks exist:

firstly, the transverse guide rail and the longitudinal guide rail occupy larger space, are complex to install and have higher production cost;

secondly, the transverse guide rail and the mounting platform simultaneously participate in longitudinal movement, so that the movement weight is greatly increased, the response frequency is reduced, and the sensitivity is influenced;

and thirdly, the mounting platform can only move along the transverse direction and the longitudinal direction, the movement direction is less, and the flexibility is low.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a driving simulation device which saves occupied space, has more freedom of movement and high sensitivity.

In order to achieve the purpose, the utility model adopts the following technical scheme:

a driving simulation apparatus comprising:

a chassis and a driving simulation platform;

the first driving source is arranged on the chassis, the output end of the first driving source is connected to the driving simulation platform, the first driving source can drive the driving simulation platform to move along the X direction, the Y direction and the Z direction and rotate along the X direction, the Y direction and the Z direction respectively, and the X direction, the Y direction and the Z direction are mutually vertical in pairs;

the Mecanum wheel system is arranged at the bottom of the chassis and can drive the driving simulation platform to move along the X direction, move along the Y direction and rotate in place through the chassis.

Preferably, the mecanum wheel train includes four mecanum wheels, and the four mecanum wheels are respectively disposed on both sides of the chassis symmetrically with respect to an axis of the chassis in the longitudinal direction.

Preferably, the mecanum wheel includes:

an inner hub and an outer hub disposed in parallel spaced apart relation;

a plurality of rollers uniformly arranged along the circumferential direction of the inner hub, one end of each roller being rotatably connected to the inner hub, the other end of each roller being rotatably connected to the outer hub, and the axial direction of each roller being inclined with respect to the axial direction of the inner hub;

and the second driving source is arranged at the bottom of the chassis, the output end of the second driving source is connected to the inner hub, and the second driving source can drive the inner hub to rotate.

Preferably, the outer wall of the plurality of rollers forms an envelope surface with a cylindrical structure.

Preferably, the axial directions of the rollers of the two Mecanum wheels positioned on the same side of the chassis form an included angle.

Preferably, the mecanum wheel further comprises an end cap disposed on a side of the outer hub remote from the inner hub.

Preferably, the mecanum wheel further comprises a mounting seat, and the mounting seat is arranged on the chassis and used for mounting the second driving source.

Preferably, a connecting shaft is convexly provided on a side of the inner hub away from the outer hub, and the connecting shaft is connected to an output end of the second drive source.

Preferably, the mecanum wheel further comprises a coupling, one end of the coupling is connected to the output end of the second driving source, and the other end of the coupling is connected to the connecting shaft.

Preferably, the mecanum wheel further comprises a flange, and the flange is sleeved outside the coupling and connected to the side surface of the inner hub.

The utility model has the beneficial effects that:

according to the driving simulation device provided by the utility model, the Mecanum wheel system is arranged at the bottom of the chassis, the Mecanum wheel system can drive the driving simulation platform to move along the X direction, move along the Y direction and rotate in place through the chassis, and the Mecanum wheel system is utilized to realize translation and rotation in a large range. Through being provided with first driving source on the chassis, first driving source can drive and drive the simulation platform of driving and move and rotate along X to, Y to and Z to the Z along X respectively, realize the six degree of freedom motion of simulation platform of driving to can carry out movements such as the small range is jolted, every single move, swing and heeling, the flexibility is strong. Need set up X to guide rail and Y to comparing with prior art, through mutually supporting of mecanum train and first driving source, area is smaller, reduces the installation degree of difficulty, reduces manufacturing cost, and drives the motion that simulation platform can realize complicacy, and the direction of motion is abundant, and sensitivity is high.

Drawings

FIG. 1 is a schematic view of the driving simulation apparatus according to the present invention;

FIG. 2 is a schematic view of a perspective view of a Mecanum wheel of the driving simulation apparatus of the present invention;

fig. 3 is a schematic view of another view of the mecanum wheel of the driving simulation apparatus of the present invention.

In the figure:

1. a chassis; 2. a driving simulation platform; 3. a first drive source; 4. a Mecanum wheel train;

41. an inner hub; 411. a connecting shaft; 42. an outer hub; 43. a roller; 44. a second drive source; 45. an end cap; 46. a mounting seat; 47. a coupling; 48. and (4) a flange.

Detailed Description

In order to make the technical problems solved, technical solutions adopted and technical effects achieved by the present invention clearer, the technical solutions of the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all 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.

In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

The technical scheme of the utility model is further explained by the specific implementation mode in combination with the attached drawings.

The present embodiment provides a driving simulation apparatus, as shown in fig. 1, the driving simulation apparatus includes a chassis 1 and a driving simulation platform 2, the chassis 1 is used for bearing the driving simulation platform 2, and the chassis 1 plays a role of integral support. The driving simulation platform 2 can also be called as a driving simulator, and the working principle of the driving simulation platform 2 is as follows: the driver manipulates the operating member so that the sensor directly connected to the operating member is changed, thereby causing a change in the electric signal. The signal acquisition and processing system periodically acquires electric signals on the sensor according to a certain time interval, carries out filtering and other processing, inputs the processed signals into a vehicle dynamics model system, and calculates the current state of the vehicle, such as information of the engine speed, the engine output torque, the vehicle speed, the current position of the vehicle and the like after the vehicle dynamics model simulation operation. And the result calculated by the vehicle dynamics model is sent to a display system for graphic display, or sent to a sound system for sound simulation and sent to an instrument system for instrument display.

The existing chassis and the driving simulation platform are of fixed structures, and can move along the X direction and the Y direction respectively under the guiding action of the X direction guide rail and the Y direction guide rail, but the transverse guide rail and the longitudinal guide rail occupy a large area, are complex to install and have higher production cost. In order to solve the problem, as shown in fig. 1, the driving simulation apparatus further includes a first driving source 3 and a mecanum wheel system 4, the first driving source 3 is disposed on the chassis 1, the first driving source 3 is specifically an electric servo actuator, an output end of the first driving source 3 is connected to the driving simulation platform 2, and the first driving source 3 can drive the driving simulation platform 2 to move along an X direction, a Y direction and a Z direction and rotate along the X direction, the Y direction and the Z direction respectively, wherein two of the X direction, the Y direction and the Z direction are perpendicular to each other. The Mecanum wheel system 4 is arranged at the bottom of the chassis 1, and the Mecanum wheel system 4 can drive the driving simulation platform 2 to move along the X direction, move along the Y direction and rotate in place through the chassis 1.

According to the driving simulation device provided by the embodiment, the Mecanum wheel system 4 is arranged at the bottom of the chassis 1, the Mecanum wheel system 4 can drive the driving simulation platform 2 to move along the X direction, move along the Y direction and rotate in place through the chassis 1, and the Mecanum wheel system 4 is used for realizing translation and rotation in a large range. Through being provided with first driving source 3 on chassis 1, first driving source 3 can drive and drive simulation platform 2 and move and rotate along X to, Y to and Z to the Z along X respectively, realize driving simulation platform 2 six degrees of freedom motion to can carry out movements such as the small range is jolted, every single move, swing and heeling, the flexibility is strong. Need set up X to guide rail and Y to comparing with prior art, through mutually supporting of mecanum train 4 and first driving source 3, area is smaller, reduces the installation degree of difficulty, reduces manufacturing cost, and drives simulation platform 2 and can realize complicated motion, and the direction of motion is abundant, and sensitivity is high.

The mecanum wheel train 4 will be described in detail below.

As shown in fig. 1, the mecanum wheel train 4 includes four mecanum wheels, and the universal mechanism used in the existing driving simulator is replaced by the mecanum wheels, so that the structure is more compact, the device can adapt to more complex motion modes, and the motion of the vehicle can be simulated more accurately. Mecanum wheel has compact structure, advantage that the flexibility is good, based on Mecanum wheel, makes to drive simulation platform 2 and can realize omnidirectional motion more nimble conveniently, provides more lifelike simulation driving experience.

The four Mecanum wheels are respectively and symmetrically arranged on two sides of the chassis 1 relative to the axis of the chassis 1 in the length direction, namely the Mecanum wheels are symmetrically arranged along the axis of the chassis 1. By adopting the structure, the stability of the chassis 1 in the moving process can be ensured, and the balance is good. Wherein, the axis direction of the running roller 43 of two mecanum wheels that are located chassis 1 homonymy is the contained angle setting, and two mecanum wheels installation opposite direction of homonymy promptly can guarantee stronger land fertility of grabbing.

Specifically, as shown in fig. 2 to 3, each mecanum wheel includes an inner hub 41, an outer hub 42, a second driving source 44, and a plurality of rollers 43, the inner hub 41 and the outer hub 42 are arranged in parallel at intervals, the plurality of rollers 43 are uniformly arranged along a circumferential direction of the inner hub 41, one end of each roller 43 is rotatably connected to the inner hub 41, the other end of each roller 43 is rotatably connected to the outer hub 42, and an axial direction of each roller 43 is inclined with respect to an axial direction of the inner hub 41. The second driving source 44 is disposed at the bottom of the chassis 1, the second driving source 44 is a relatively high-power motor, an output end of the second driving source 44 is connected to the inner hub 41, and the second driving source 44 can drive the inner hub 41 to rotate.

The inner hub 41 corresponds to a center wheel structure, and a plurality of rollers 43 are provided around the inner hub 41, and the axial direction of the rollers 43 is inclined with respect to the axial direction of the inner hub 41, and these rollers 43 are provided at an angle so as to convert a part of the steering force of the inner hub 41 to the normal force of the inner hub 41. Depending on the direction and speed of the inner hub 41, these forces eventually combine in any desired direction, creating a resultant force vector, thereby ensuring that the ride-on simulation platform 2 is free to move in the desired direction without changing the direction of the inner hub 41 itself.

Preferably, the outer walls of the plurality of rollers 43 form an envelope surface of a cylindrical structure, and when the inner hub 41 rotates around its own axis, the envelope surface of the plurality of rollers 43 is a cylindrical surface, so that the rollers 43 can continuously roll forward and can also slide laterally, wherein the lateral sliding refers to movement in the X direction or movement in the Y direction.

When the driving simulation platform 2 needs to move forward, the mecanum wheels rotate forward, the friction force along the axial direction of the inner hub 41 can be offset in pairs, and the friction forces of the four mecanum wheels all point to the front, so that the forward friction force is generated to drive the driving simulation platform 2 to move forward.

When the driving simulation platform 2 needs to rotate in place, the Mecanum wheels on one side rotate forwards, the Mecanum wheels on the other side rotate backwards, and friction forces generated by the four Mecanum wheels are distributed along the circumference, so that the driving simulation platform 2 can integrally rotate in place.

Further, as shown in fig. 2, the mecanum wheel further includes a mounting seat 46, and the mounting seat 46 is disposed on the chassis 1 for mounting the second driving source 44. The mounting seat 46 is a fixed frame structure, and the second driving source 44 is fixed by arranging the mounting seat 46, so that the fixing effect of the second driving source 44 is ensured.

Preferably, a connecting shaft 411 is provided at a side of the inner hub 41 away from the outer hub 42, the connecting shaft 411 is connected to an output end of the second driving source 44, and the connecting shaft 411 serves as an intermediate connection between the second driving source 44 and the inner hub 41 to transmit a rotational force of the second driving source 44 to the inner hub 41 through the connecting shaft 411, thereby achieving rotation of the inner hub 41.

To further improve the reliability of the connection, the mecanum wheel further includes a coupling 47, one end of the coupling 47 is connected to the output end of the second driving source 44, and the other end is connected to the connecting shaft 411. Through setting up shaft coupling 47, realize the connection between the not unidimensional axle, connect the good reliability.

The mecanum wheel also preferably includes a flange 48, and the flange 48 is disposed on the exterior of the coupling 47 and is attached to the side of the inner hub 41. Preferably, the flange 48 is bolted to the side of the inner hub 41, and the flange 48 increases the contact area between the coupling 47 and the inner hub 41 to ensure a stabilizing effect at the connection location.

Further, mecanum wheel still includes end cover 45, and end cover 45 sets up in the one side that interior hub 41 was kept away from to outer hub 42, and end cover 45 has played the guard action to outer hub 42, avoids impurity, dust etc. to get into in outer hub 42.

In the description herein, it is to be understood that the terms "upper", "lower", "right", and the like are based on the orientations and positional relationships shown in the drawings and are used for convenience in description and simplicity in operation, but do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be constructed in a particular operation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used merely for descriptive purposes and are not intended to have any special meaning.

In the description herein, references to the description of "an embodiment," "an example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the utility model. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example.

In addition, the foregoing is only the preferred embodiment of the present invention and the technical principles applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the utility model. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A driving simulation apparatus, characterized by comprising:

a chassis (1) and a driving simulation platform (2);

the first driving source (3) is arranged on the chassis (1), the output end of the first driving source (3) is connected to the driving simulation platform (2), and the first driving source (3) can drive the driving simulation platform (2) to move along the X direction, the Y direction and the Z direction and rotate along the X direction, the Y direction and the Z direction respectively, wherein the X direction, the Y direction and the Z direction are mutually vertical in pairs;

the Mecanum wheel train (4) is arranged at the bottom of the chassis (1), and the Mecanum wheel train (4) can drive the driving simulation platform (2) to move along the X direction, move along the Y direction and rotate in place through the chassis (1).

2. The driving simulation apparatus according to claim 1, wherein the mecanum wheel train (4) includes four mecanum wheels, and the four mecanum wheels are respectively provided on both sides of the chassis (1) symmetrically with respect to an axis of the chassis (1) in a length direction.

3. The driving simulation apparatus of claim 2, wherein the mecanum wheels comprise:

an inner hub (41) and an outer hub (42), the inner hub (41) and the outer hub (42) being arranged in parallel spaced apart relation;

a plurality of rollers (43) uniformly arranged along the circumferential direction of the inner hub (41), wherein one end of each roller (43) is rotatably connected to the inner hub (41), the other end of each roller is rotatably connected to the outer hub (42), and the axial direction of each roller (43) is inclined relative to the axial direction of the inner hub (41);

and the second driving source (44) is arranged at the bottom of the chassis (1), the output end of the second driving source (44) is connected to the inner hub (41), and the second driving source (44) can drive the inner hub (41) to rotate.

4. The driving simulation apparatus according to claim 3, wherein outer walls of the plurality of rollers (43) form an envelope surface of a cylindrical structure.

5. The driving simulation apparatus according to claim 3, wherein the axial directions of the rollers (43) of the two Mecanum wheels on the same side of the chassis (1) are arranged at an angle.

6. The steering simulation device of claim 3, wherein the Mecanum wheel further comprises an end cap (45), the end cap (45) being disposed on a side of the outer hub (42) remote from the inner hub (41).

7. The driving simulation apparatus according to claim 3, wherein the Mecanum wheel further comprises a mounting seat (46), the mounting seat (46) being provided on the chassis (1) for mounting the second drive source (44).

8. The steering simulator according to claim 3, wherein a connecting shaft (411) is provided on a side of said inner hub (41) remote from said outer hub (42), said connecting shaft (411) being connected to an output end of said second drive source (44).

9. The driving simulation apparatus according to claim 8, wherein the mecanum wheel further comprises a coupling (47), one end of the coupling (47) being connected to the output end of the second drive source (44), and the other end being connected to the connecting shaft (411).

10. The steering simulation device of claim 9, wherein the mecanum wheel further comprises a flange (48), the flange (48) being fitted over the outside of the coupling (47) and connected to the side of the inner hub (41).