CN206733969U - A kind of wheel tyre explosion safety control device of the unmanned mine car of 4 wheel driven - Google Patents
A kind of wheel tyre explosion safety control device of the unmanned mine car of 4 wheel driven Download PDFInfo
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- CN206733969U CN206733969U CN201720220931.1U CN201720220931U CN206733969U CN 206733969 U CN206733969 U CN 206733969U CN 201720220931 U CN201720220931 U CN 201720220931U CN 206733969 U CN206733969 U CN 206733969U
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- wheel
- drive link
- motor
- mine car
- control device
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Abstract
It the utility model is related to a kind of wheel tyre explosion safety control device of the unmanned mine car of 4 wheel driven, it is intended to improve the security after unmanned tramcar wheel is blown out and ensure the operating efficiency of mine car.The servicing unit is made up of drive mechanism, transmission mechanism, attachment structure and auxiliary wheel.Drive mechanism uses stand-by motor, the power source as safety aid；Transmission mechanism uses leverage, including motor drive link, input drive link, connection drive link and output drive link；Attachment structure uses articulated structure form, the connection between fixation and each mechanism for safety aid；Auxiliary wheel is equipped with hub driven motor, installs on furcated mechanism, the unmanned mine car to blow out provides partial brake power.The tyre explosion safety control device has the characteristics that convenient disassembly, is easy to repair, is suitable for working under harsh environments, and the device has auto-lock function to improve the reliability of the device work during work.
Description
Technical field：
The utility model belongs to the field of automobile active safety, and a kind of wheel of the specific design unmanned mine car of 4 wheel driven is blown out
Safety control, the safety auxiliary control after being blown out for unmanned mine car, it is intended to improve the stability after unmanned mine car is blown out
With security and operating efficiency.
Technical background：
According to related data investigation statisticses, the traffic accident 70% on highway is above is because the automobile run at high speed is quick-fried
Caused by tire, and driver can cause car crash due to lacking the experience progress faulty operation for emergency processing of blowing out, and follow
Automobile can usually knock into the back phenomenon, and automobile of blowing out can also collide with surrounding driving vehicle and cause more serious traffic thing
Therefore therefore the control technology blown out it is most important.Prior art is mainly the tire pressure collection by tire air pressure monitoring unit
Signal is sent to the central control unit of automobile, and central control unit decision-making simultaneously sends brake hard instruction to establish tyre explosion safety
Control system, longitudinal direction execution unit closes air throttle after receiving control instruction during automobile flat tire, and horizontal execution unit receives control
Steering assistance motor is controlled to maintain preferable travel direction after instruction.Orthodox car is usually front-wheel steer, in automobile flat tire
When, pass through active front steering system (Active front steering, AFS) or the stable electronic system of vehicle body
(Electronic Stability Program, ESP) can control the stability for rear vehicle of blowing out to a certain extent, but
It is the standard configuration system that ESP system is not automobile, and both control systems are nor being directed to automobile flat tire and designing
's.It is usually the spare wheel carrier beam device of design mine car for the control that mine car is blown out and tire pressure is carried out to the tire of mine car
With the monitoring and controlling of temperature, need to configure spare tyre on mine car using the device of spare wheel carrier, and be limited to the shadow of mine car application environment
Ring, the diameter of tyres and width of mine car are all larger, so spare tyre carries inconvenience, the application of spare wheel carrier can influence the cloth of vehicle
Put；To mine car tire with tire pressure and the monitoring and controlling of temperature, the monitoring system that the method needs needs control algolithm, and
The program of complexity is write in entire car controller, it is necessary to using more sensor, under the severe working environment of mine car not
Easily ensure the normal operating conditions of monitoring system.Unmanned technology is the focus of colleges and universities and business research in recent years, also by
The great attention of country, and the case of existing unmanned vehicle work and preferable application is obtained in the aerospace industry and communications and transportation
Effect, therefore unmanned vehicle can be applied to the industrial circles such as mining soon, therefore, this patent design is applied to the quick-fried of unmanned mine car
Tire safety control has preferable application value.Some shortcomings in the prior art be present：First, traditional control of blowing out is more
It is to provide a kind of control method, it is necessary to write the control program of complexity in entire car controller, and it is auxiliary based on a kind of safety is designed
Help the scheme of device few；Second, the control device of blowing out of design is mostly to be based on hydraulic system, Hydraulic Elements manufacture and processing essence
Degree requires higher, and assembling is relatively difficult, valve system and oil circuit is more, fluid by temperature and whether there is air it is mixed have a great influence, oil
System reliability is influenceed after liquid pollution, arrangement is inconvenient, and failure is not easy to check and excluded；Third, do not examined fully after automobile flat tire
Consider tire and take off the danger that rim is further brought；Fourth, do not account for blow out after load distribution inequality problem.
This patent devises a kind of wheel tyre explosion safety control device of the unmanned mine car of 4 wheel driven, passes through the electricity in drive mechanism
Machine provides power for leverage transmission mechanism, and leverage transmission mechanism realizes the connection of connection articulated structure to realize by be hinged structure
The change of leverage relative position, it is simple and reliable for structure, be easy to fabricate；Kinematic pair is face contact, and pressure is small during work, carrying
Ability is big, impact resistance；In the case where the driving link characteristics of motion is constant, driven member is made by the relative length for changing each component
The different characteristics of motion is obtained, is easily controlled the characteristics of motion of mechanism；When safety aid moves to final state, output transmission
Bar can be contacted and rolled with road surface perpendicular to ground, auxiliary wheel, and the vertical active force between auxiliary wheel and ground makes quick-fried
Axletree where tire wheel highly raises two wheel lifts so that on axletree, and four-wheel automobile switchs to three-wheel driving mode, avoids four
The danger that wheel rim comes off occurs for the coaxial wheel of not blowing out of wheel automobile flat tire wheel, avoids unmanned mine car when higher speed travels
The hidden danger of trailing wheel elder generation locking occurs after blowing out because of brake hard；Auxiliary wheel is equipped with hub driven motor, is driven by wheel hub
Motor reversal provides partial brake power for automobile of blowing out, two wheels automobile caused by liftoff of axletree where making up wheel of blowing out
The decrement of brake force, the unmanned mine car for making to blow out are capable of the parking of safety or worked on after gradual slow down, avoid
There is the generation of the accidents such as sideslip, whipping or overturning；The fork configuration of auxiliary wheel is connected with being designed with the defeated of shock absorber structure
Go out drive link connection, auxiliary wheel can be relaxed and contacted to earth caused impact, and make traveling process of the unmanned mine car after blowing out
Middle buffering, damping, improve the ride comfort of running car.
Utility model content：
The utility model belongs to the field of automobile active safety, and a kind of wheel of the specific design unmanned mine car of 4 wheel driven is blown out
Safety control, the safety auxiliary control after being blown out for unmanned mine car, it is intended to improve steady after unmanned mine car trailing wheel is blown out
Qualitative, security and operating efficiency.To achieve these goals, the utility model is realized by following technical scheme：
Tyre explosion safety control device described in technical scheme, it is characterised in that safety aid is by drive mechanism, biography
Motivation structure, attachment structure and auxiliary wheel 7 form；Drive mechanism uses motor, and power is provided for safety aid；Driver
Structure uses leverage, including 4 drive links, and the device has auto-lock function when leverage moves to work final state；Attachment structure uses
Articulated structure, the connection between fixation and each leverage for safety aid；Auxiliary wheel 7 is equipped with wheel hub driving electricity
Machine, it can not only provide driving force but also partial brake can be provided by the unmanned mine car for being reversed to blow out of hub driven motor
Power.
Tyre explosion safety control device described in technical scheme, before the motor in drive mechanism is secured by bolts in automobile
Chassis location between axle and rear axle, specific installation site will meet that servicing unit auxiliary wheel 7 when working final state is located at car
Requirement immediately below among axle, motor output shaft is spatially parallel with axletree, and one section of motor output shaft end is processed into
Corner prismatic structure, screw thread is processed at shaft end end, one end of motor drive link 3 processes the through hole of corner prismatic, and motor is defeated
The prismatic structure of shaft and the through hole of motor drive link 3 are coordinated, and motor output shaft shaft end bolt coordinates with screw thread, are prevented
Only motor drive link 3 is moving axially relative on motor output shaft, is passed by the rotational movement motor of motor output shaft
Lever 3 is moved, and then realizes the work of whole safety aid.
Tyre explosion safety control device described in technical scheme, transmission mechanism use leverage, including 4 drive links, input
One end of drive link 4 is be hinged with vehicle frame 1, one end of the other end and the undressed prismatic through hole of motor drive link 3, is connected drive link
5 one end is hinged by attachment structure, and the connection other end of drive link 5 is cut with scissors with output drive link 6 middle part by attachment structure
Connect, articulated structure connection is simple and reliable for structure, be easy to fabricate to realize the change of leverage relative position；Kinematic pair is face
Contact, pressure is small during work, large carrying capacity, impact resistance；It is each by changing in the case where the driving link characteristics of motion is constant
The relative length of component makes driven member obtain the different characteristics of motion, is easily controlled the characteristics of motion of mechanism.
Tyre explosion safety control device described in technical scheme, output drive link 6 are designed as shock absorber structure, one end and car
Frame 1 is be hinged, and the other end is connected with the furcated mechanism 8 equipped with auxiliary wheel 7, is designed specifically to electromagnetism adjustable hanging system, this is
System includes vehicle body displacement transducer, electromagnetic liquid depression bar and telescopic shock absorber composition, and the suspension only needs big by changing electric current
The small regulation can for carrying out magnetic field intensity realizes the purpose of control damped coefficient, and unmanned mine car runs on uneven road surface and causes car
When road is beated, the signal collected is sent to whole-control system by sensor, and entire car controller sends control damper electronics
The instruction of coil current, magnetic field intensity is changed to realize the purpose of change electromagnetism fluid viscosity by the motion of electric current, realizes damping
The adjust automatically of device height, control vehicle body, the function of damping are realized, ensure mine car smooth-going traveling；Unmanned mine car load after blowing out
Skewness, pass through the adjust automatically of damper height, it is possible to achieve unmanned mine car blow out after counterweight balance, but now car
Body is turned forward, and does not allow for traditional someone's car, but the unmanned mine car being applicable this patent is possible.
Tyre explosion safety control device described in technical scheme, auxiliary wheel 7 are inverted by the hub driven motor of assembling
Partial brake power is provided for automobile of blowing out, automobile braking force subtracts caused by two wheel lifts of axletree where making up wheel of blowing out
On a small quantity, the unmanned mine car for making to blow out is capable of the parking of safety or worked on after gradual slow down, and avoids the occurrence of sideslip, gets rid of
The generation of the accident such as tail or overturning；Auxiliary wheel 7 is to be equipped with the wheel of hub driven motor, compact motor and integrated
The application of the active suspension of change, make servicing unit that there is light-weighted feature, while wheel integrated electronic suspension has
Help buffer road shocks, pass through effective control to hub driven motor driving force, it is possible to achieve effective load transfer, increase
The vertical force of the big controlled wheel, and then increase the lateral and longitudinal maximum tire force value of the controlled wheel, by tire force most
The increase being worth greatly can preferably ensure to blow out the security of vehicle.
Tyre explosion safety control device described in technical scheme, when working final state export drive link 6 move to perpendicular to
The state on ground, wheel realize contact with road surface and rolled on road, wheel by with vehicle traveling direction opposite effect
Power, input drive link 4 and connection drive link 5 are conllinear, safety aid self-locking, ensure that the reliability of device work；Auxiliary
After leverage realizes self-locking in device, now the motor of drive mechanism stops the output to the power of motor drive link 3, relative to device
There is no the device for needing motor to provide power always during auto-lock function, it is possible to reduce the consumption of energy, save the energy.
Tyre explosion safety control device described in technical scheme, servicing unit realize that four-wheel automobile switchs in the course of the work
Do not blow out the three-wheel driving mode of axle wheel and auxiliary wheel 7, two wheels of axletree are in auxiliary wheel 7 where wheel of blowing out
Realize liftoff under effect, the unmanned mine car that can avoid running at high speed produces the hidden of trailing wheel elder generation locking because of brake hard after blowing out
Suffer from, while the danger that tire takes off rim occurs for the wheel that avoids not blowing out.
Tyre explosion safety control device described in technical scheme, the relative dimensions design for being driven leverage and wheel consider vehicle
The road clearance on chassis, the specific size of design leverage and wheel under conditions of movement interference is not produced to original mechanism.
Compared with prior art, the beneficial effects of the utility model：
1. this patent devises a kind of wheel tyre explosion safety control device of the unmanned mine car of 4 wheel driven, with traditional control of blowing out
Control algolithm is needed to compare, it is not necessary to write the control program of complexity in entire car controller.
2. needing the more wheel change that stops after being blown out compared to traditional vehicle, the utility model is it is possible to prevente effectively from related manual is grasped
Make, improve the continuity of traveling, be suitable for the working environment of unmanned mine car.
3. the utility model device is in contraction state when not working, reduces the demand to arrangement space, be easy to cloth
Put.
4. the hydraulic unit being related in structure is less, requirement on machining accuracy is not high, assembling is simple, failure is easily checked and arranged
Remove；Output drive link is designed as electromagnetism adjustable hanging system, and device can relax road shocks, apparatus with shock absorbing when working；Adjust
Whole bodywork height realizes the load equalization after blowing out, and improves the ride comfort of running car.
5. whole servicing unit enters according to the liftoff gap of vehicle chassis, not to conditions such as original device generation movement interferences
Row designs specific size, not for certain specific vehicle, goes for various, particularly suitable for chassis and road surface gap
Larger vehicle.
6. device moves to work final state, ensure to fill by the design and auxiliary wheel of drive link and the active force on ground
The function of self-locking is put, improves the functional reliability of safety aid；Safety aid makes to blow out two of axletree where wheel
Wheel lift, the wheel that can avoid not blowing out takes off produced because of brake hard after the hidden danger of rim, the automobile flat tire run at high speed after
Take turns the hidden danger of first locking.
7. using the auxiliary wheel structure equipped with wheel hub motor, it is defeated that action edge (driving force or brake force) can be entered when necessary
Go out, be advantageous to preferably complete the task of unmanned mine car；The application of integrated active suspension, help to buffer road
Face is impacted and realizes damping effect, while wheel integrated electronic suspension can effectively control pitching and roll motion.
Brief description of the drawings：
The utility model is further described below in conjunction with the accompanying drawings：
Fig. 1 is the home position schematic diagram of safety aid described in the utility model；
Fig. 2 is the course of work position view of safety aid described in the utility model；
Fig. 3 is the work final state position view of safety aid described in the utility model；
Arrow represents the travel direction of vehicle in figure；V represents the speed of vehicle traveling；1, vehicle frame；2, prismatic through hole；3, electricity
Machine drive link；4, input drive link；5, connect drive link；6, export drive link；7, auxiliary wheel；8, furcated mechanism
Embodiment：
Specific embodiment of the present utility model is described in detail below in conjunction with the accompanying drawings.
Refering to Fig. 1, whole tyre explosion safety control device includes drive mechanism, transmission mechanism, attachment structure and auxiliary wheel
7.Drive mechanism uses motor, and motor is fixed on chassis by bolt, the power source as safety aid；Driver
Structure uses leverage, including 4 drive links；Attachment structure uses articulated structure form, for the fixation of safety aid and each
Connection between mechanism, realize the relative position change of transmission leverage；Auxiliary wheel 7 is using the wheel equipped with hub driven motor
And be installed on furcated mechanism 8, hub driven motor both can be that auxiliary wheel 7 provides driving force, can be driven again by wheel hub
The auxiliary wheel 7 that is reversed to of dynamic motor provides partial brake power；The application of the integrated active suspension of auxiliary wheel 7, has
Help buffer road shocks and realize damping effect, while wheel integrated electronic suspension can effectively control pitching and side
Incline motion.
Refering to Fig. 2, motor is mounted on the chassis between automobile front axle and rear axle by bolt, specific installation site
Meet that servicing unit auxiliary wheel 7 when working final state is located at the requirement immediately below the centre of axletree, it is desirable to its output shaft with
Spatially keeping parallelism, one section of output shaft end are processed into corner prismatic structure to axletree, and screw thread is processed at shaft end end, and motor passes
One end of lever 3 processes prismatic through hole 2, and the prismatic structure of motor output shaft is carried out with the prismatic through hole 2 of motor drive link 3
Coordinate, motor output shaft shaft end bolt coordinates with screw thread, prevents that motor drive link 3 is axially opposing on motor output shaft
Motion, is moved by the rotational movement motor drive link 3 of motor output shaft, and input one end of drive link 4 passes through company with vehicle frame 1
Binding structure is hinged；Input one end of the other end of drive link 4 and the undressed prismatic through hole 2 of motor drive link 3, be connected drive link 5 one
End is hinged by attachment structure；The connection other end of drive link 5 is hinged with exporting the centre position of drive link 6 by attachment structure；
It is be hinged with vehicle frame 1 to export drive link 6, the other end is connected with being provided with the furcated mechanism 8 of wheel.When automobile back wheel is blown out, pass through
The rotational movement motor drive link 3 of motor output shaft moves, and motor drive link 3 drives input drive link by attachment structure
4 move with connection drive link 5, and connection drive link 5 drives output drive link 6 to move by attachment structure.
Refering to Fig. 3, when safety aid moves to final state position, the transmission leverage of design ensures input drive link 4
Conllinear with connection drive link 5, output drive link 6 is in realizes self-locking perpendicular to road surface position state, current location transmission mechanism
Function, motor exit working condition；Auxiliary wheel 7 is contacted and rolled with road surface, passes through the vertical effect on auxiliary wheel 7 and ground
Make two wheel lift on axletree, hub driven motor provides that to be driven reverse masterpiece be partial brake power by inverting during higher speed
Carry out braking force compensating, or auxiliary wheel 7 provides driving force.
Claims (6)
1. a kind of wheel tyre explosion safety control device of the unmanned mine car of 4 wheel driven, it is characterised in that safety aid is by driving machine
Structure, transmission mechanism, attachment structure and auxiliary wheel composition；Drive mechanism uses motor, and power is provided for safety aid；Pass
Motivation structure uses leverage, including 4 drive links, and the device has auto-lock function when leverage moves to work final state；Attachment structure
Using articulated structure, the connection between fixation and each leverage for safety aid；Auxiliary wheel is equipped with wheel hub driving
Motor, it can not only provide driving force but also partial brake can be provided by the unmanned mine car for being reversed to blow out of hub driven motor
Power.
A kind of 2. wheel tyre explosion safety control device of the unmanned mine car of 4 wheel driven as claimed in claim 1, it is characterised in that motor
Chassis location between unmanned mine car front axle and rear axle is installed on by bolt, motor output shaft is spatially parallel with axletree,
And corner prismatic structure is processed at one section of motor output shaft end, screw thread is processed at shaft end end, one end of motor drive link adds
Work goes out the through hole of corner prismatic, and the prismatic structure of motor output shaft coordinates the transmission for realizing power with the through hole of motor drive link,
Motor output shaft shaft end bolt coordinates with screw thread, prevents that motor drive link is moving axially relative on motor output shaft；
Attachment structure uses articulated structure form, and each drive link passes through the be hinged change for realizing relative position to servicing unit in the course of the work
Change.
A kind of 3. wheel tyre explosion safety control device of the unmanned mine car of 4 wheel driven as claimed in claim 1, it is characterised in that transmission
Mechanism uses member structure, specifically includes 4 drive links, and motor drive link is processed by corner prismatic through hole and motor output shaft
Corner prismatic structure coordinate；Input drive link one end is hinged with vehicle frame, the other end and motor drive link, is connected drive link and is cut with scissors
Connect；In addition, the connection drive link other end is hinged with output drive link middle part；Output drive link one end is hinged with vehicle frame, separately
One end is connected with furcated mechanism, and the auxiliary wheel for being equipped with hub driven motor is arranged on furcated mechanism.
A kind of 4. wheel tyre explosion safety control device of the unmanned mine car of 4 wheel driven as claimed in claim 3, it is characterised in that with it is auxiliary
Help the output drive link connection for the fork configuration and shock absorber structure that wheel connects, when auxiliary wheel is travelling on road surface, car
Wheel can be impacted because of Uneven road, and output drive link, which is designed as shock absorber structure, can relax caused by auxiliary wheel contacts to earth
Impact；Auxiliary wheel is the wheel for being equipped with hub driven motor, compact motor and integrated active suspension
Application, help to buffer road shocks and realize damping effect, while wheel integrated electronic suspension can be controlled effectively
Pitching processed and roll motion.
A kind of 5. wheel tyre explosion safety control device of the unmanned mine car of 4 wheel driven as claimed in claim 4, it is characterised in that output
Drive link structure is designed specifically to electromagnetism adjustable hanging system, and the system includes vehicle body displacement transducer, electromagnetic liquid depression bar and cylinder
Formula damper forms, and the suspension only needs the regulation can for carrying out magnetic field intensity by changing size of current to realize control resistance
The purpose of Buddhist nun's coefficient, unmanned mine car runs on uneven road surface when causing the bus or train route to beat, and the signal collected is sent to by sensor
Whole-control system, entire car controller send the instruction of control damper electronic coil electric current, change magnetic by the motion of electric current
Field intensity changes the purpose of electromagnetism fluid viscosity to realize.
A kind of 6. wheel tyre explosion safety control device of the unmanned mine car of 4 wheel driven as claimed in claim 4, it is characterised in that auxiliary
Wheel is identical with the tread width for wheel of not blowing out using the auxiliary wheel equipped with hub driven motor, tire tread width.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720220931.1U CN206733969U (en) | 2017-03-08 | 2017-03-08 | A kind of wheel tyre explosion safety control device of the unmanned mine car of 4 wheel driven |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720220931.1U CN206733969U (en) | 2017-03-08 | 2017-03-08 | A kind of wheel tyre explosion safety control device of the unmanned mine car of 4 wheel driven |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206733969U true CN206733969U (en) | 2017-12-12 |
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ID=60556258
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720220931.1U Expired - Fee Related CN206733969U (en) | 2017-03-08 | 2017-03-08 | A kind of wheel tyre explosion safety control device of the unmanned mine car of 4 wheel driven |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206733969U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106828440A (en) * | 2017-03-08 | 2017-06-13 | 吉林大学 | A kind of tyre explosion safety servicing unit suitable for the unmanned mine car of 4 wheel driven |
| CN112918195A (en) * | 2021-04-07 | 2021-06-08 | 山东金腾企业管理有限公司 | Temporary auxiliary running device for bicycle |
-
2017
- 2017-03-08 CN CN201720220931.1U patent/CN206733969U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106828440A (en) * | 2017-03-08 | 2017-06-13 | 吉林大学 | A kind of tyre explosion safety servicing unit suitable for the unmanned mine car of 4 wheel driven |
| CN106828440B (en) * | 2017-03-08 | 2018-07-31 | 吉林大学 | A kind of tyre explosion safety auxiliary device suitable for the unmanned mine car of 4 wheel driven |
| CN112918195A (en) * | 2021-04-07 | 2021-06-08 | 山东金腾企业管理有限公司 | Temporary auxiliary running device for bicycle |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171212 Termination date: 20200308 |