CN215706627U - Steering system applied to vehicle and vehicle running device thereof - Google Patents

Abstract

The utility model discloses a steering system applied to a vehicle and a vehicle running device thereof, which comprises a steering motor, a steering mechanism for driving wheels to steer and an electronic control unit for controlling the steering motor to drive the steering mechanism, wherein a speed reducing mechanism is connected between the steering motor and the steering mechanism, the speed reducing mechanism is provided with two input shafts, one input shaft is connected with the output end of the steering motor so as to be controlled by the electronic control unit through the rotating motor, and realize an electric control steering mode, the other input shaft is connected with an operating mechanism for artificial steering in a rotating way, and the other input shaft is provided with a torque sensor, so that in the actual steering process, if the steering system is in a complex environment requiring artificial steering, the operating mechanism can be directly and artificially controlled, the torque sensor directly controls the electronic control unit to disconnect the signal transmission with the steering motor, the manual operation conversion is realized, the device is suitable for different working environments, and the use and modification cost is effectively reduced.

Description

Steering system applied to vehicle and vehicle running device thereof

Technical Field

The utility model relates to the field of vehicle advancing devices, in particular to a steering system applied to a vehicle and a vehicle walking device thereof.

Background

With the continuous development of industry, the application of heavy machinery vehicles in engineering is more and more extensive, the driving of heavy vehicles becomes the focus of attention at present, the power required by the heavy vehicles during driving is larger, the energy consumption is also the focus of attention of people, and when people drive the heavy vehicles, the general conditions of the cab of the heavy vehicles are worse, the operation is inconvenient, and the cab is easily harmful to the health of people. In addition, fossil fuel is harmful to the environment, heavy vehicles have high consumption of the fossil fuel, electric driving is a development trend of the heavy vehicles in China with sufficient electric energy, in recent years, computer technology is rapidly developed in the world, and remote control driving technology is mature on the basis of electric driving, so that technical support is provided for remote control driving of the heavy vehicles. However, in the prior art, the driving device is generally a complete remote control or electric control driving technology, and when the remote control or electric control cannot ensure good traveling in a special environment, manual driving is still required, but the complete remote control or electric control driving technology cannot flexibly change a manual driving mode, so that the adaptability of the whole driving device is insufficient.

For example, patent document CN203698173U discloses a remote control steering system for a vehicle, which adopts a gear structure to control the direction of a steering wheel, has high steering precision, and can realize multi-directional positioning steering. The direction, the accelerator, the clutch and the brake are all controlled by a steering engine, and the output can be accurately controlled within an angle stroke range. However, when the steering wheel needs to be manually operated in a complex driving environment, the steering wheel is inevitably limited by the gear structure, so that the whole driving process is limited by the operation mode. Furthermore, patent document CN111775941A discloses an automatic unmanned vehicle and a control system, which achieve the free switching between unmanned driving and active driving of the vehicle by means of a switching device, a collecting device, a main control device and a driving device on the vehicle body, without the need of complete replacement or new manufacture of the whole vehicle, but in order to achieve the effect of switching between driving modes, a large amount of control and feedback systems are inevitably required, leading to the complication and cost increase of the whole device.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a steering system applied to a vehicle and a vehicle running device thereof, which are used for solving the problems in the prior art.

In order to achieve the purpose, the utility model provides the following scheme: the utility model provides a be applied to steering system of vehicle, steering mechanism, control that turn to including steering motor, driving wheel turn to steering motor drive steering mechanism's electronic control unit, steering motor with be connected with reduction gears between the steering mechanism, reduction gears is equipped with two input shafts, one of them the input shaft is connected steering motor's output, another the input shaft rotates and is connected with the operating device who is used for artificial steering, and another be equipped with torque sensor on the input shaft, torque sensor is used for monitoring disconnection behind the operating device action electronic control unit is right steering motor's control.

Preferably, the steering mechanism comprises a steering gear for pushing wheels to swing left and right and a steering rack engaged and connected to the steering gear, the steering rack is connected between two wheels in the same row, and the steering gear is rotationally connected to an output shaft of the speed reducing mechanism.

Preferably, both ends of the steering rack are hinged with movable connecting rods connected with wheels.

Preferably, a clutch is arranged on the input shaft connected with the steering motor, and the clutch is electrically connected with the torque sensor.

The vehicle traveling device comprises a traveling mechanism and a steering system applied to the vehicle, the traveling mechanism comprises a plurality of wheels symmetrically arranged on two sides of the vehicle along the traveling direction of the vehicle, and the two wheels in the same row are connected to two ends of the steering rack.

Preferably, be equipped with braking system on the mechanism of marcing, braking system is including setting up brake motor and brake caliper on the wheel, brake caliper includes the piston and sets up brake block on the piston, piston sliding connection in brake motor's output and with the brake block extrusion is in on the brake disc of wheel.

Preferably, the advancing mechanism is provided with a rotating motor for driving the wheels to advance and retreat, and the rotating motors are connected in a synchronous rotating mode.

Preferably, the remote control system is used for remotely controlling the traveling system and the steering system applied to the vehicle, and comprises a remote control handle, a signal generator and a steering control switch electrically connected with the signal generator are arranged on the remote control handle, and the electronic control unit used for receiving a steering instruction sent by the signal generator is arranged on the steering system applied to the vehicle.

Preferably, the remote control handle is provided with a brake switch electrically connected with the signal generator, and the brake motor is electrically connected with a brake controller for receiving a brake signal sent by the signal generator.

Preferably, the remote control handle is provided with a traveling switch electrically connected with the signal generator, and the rotating motor is electrically connected with a synchronous motor controller for receiving a traveling signal sent by the signal generator.

Compared with the prior art, the utility model has the following technical effects:

firstly, the speed reducing mechanism is provided with two input shafts, one of the input shafts is connected with the output end of a steering motor so as to be capable of receiving the control of an electronic control unit through the rotating motor to realize the mode of electric control steering, the other input shaft is connected with an operating mechanism for artificial steering in a rotating way, the other input shaft is provided with a torque sensor, the torque sensor is used for monitoring the action of the operating mechanism and then disconnecting the control of the electronic control unit on the steering motor, in the actual steering process, if the steering mechanism is in a complex environment or needs to be artificially controlled, technicians in the field can directly and artificially control the operating mechanism, the torque sensor directly controls the electronic control unit to disconnect the signal transmission with the steering motor so as to realize the conversion of artificial operation, compared with the arrangement of complex mechanisms of a conversion device, a collection device, a main control device and a running device in the prior art, the structure in this application is then simple effective, not only adapts to different operational environment, moreover effectual reduction use and transformation cost.

Secondly, steering mechanism is including promoting the steering gear of wheel horizontal hunting, the steering rack of meshing connection on steering gear, steering rack connects between two same row wheels, and steering gear rotates to be connected on reduction gears's output shaft, and under the drive of rotating the motor, reduction gears's output shaft direct drive steering gear rotates for steering rack can remove along with steering gear's rotation and remove, and then drives the wheel swing, realizes turning to the action, has guaranteed the validity that turns to.

And thirdly, the two ends of the steering rack are hinged with movable connecting rods connected with the wheels, and rigid connection between the steering rack and the wheels is avoided by arranging the movable connecting rods, so that connection buffering can be formed between the steering rack and the wheels, the abrasion between the steering rack and the wheels is reduced, and the service life of the whole steering structure is prolonged.

And fourthly, a clutch is arranged on an input shaft connected with a steering motor and electrically connected with a torque sensor, and the torque sensor is enabled to be directly disconnected from the transmission connection of the rotating motor and the speed reducing mechanism after detecting manual operation by arranging the clutch, so that the rotating motor is prevented from having output torque to influence the manual operation of the rotating speed reducing mechanism.

And fifthly, the brake caliper comprises a piston and a brake pad arranged on the piston, the piston is connected to the output end of the brake motor in a sliding mode and extrudes the brake pad onto a brake disc of the wheel, and when the brake caliper is started, the piston can drive the brake pad to extrude onto the brake disc of the wheel so as to perform friction braking on the wheel and guarantee the effectiveness of braking on the whole vehicle.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.

FIG. 1 is a schematic view of a steering system;

FIG. 2 is a schematic view of a remote control handle;

the system comprises an electronic control unit 1, a steering motor 2, a speed reducing mechanism 3, an operating mechanism 4, an output shaft 5, a steering gear 6, a steering rack 7, a movable connecting rod 8, wheels 9, a remote control handle 10, a starting switch 11, a steering control switch 12, a signal generator 13, a traveling switch 14 and a braking switch 15.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The utility model aims to provide a steering system applied to a vehicle and a vehicle running device thereof, which are used for solving the problems in the prior art.

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.

As shown in fig. 1 to 2, the present invention provides a steering system for a vehicle, comprising a steering motor 2, a steering mechanism for driving a wheel 9 to steer, and an electronic control unit 1 for controlling the steering motor 2 to drive the steering mechanism, wherein the electronic control unit 1 controls the steering motor 2 to drive the steering mechanism to push the wheel 9 to rotate left and right after receiving a steering command, controls the rotation speed of the steering motor 2 by a position feedback signal, preferably ensures the stability of steering, controls the steering motor 2 to output power to the steering mechanism to steer the rear wheel 9 after receiving the steering command, a speed reduction mechanism 3 is connected between the steering motor 2 and the steering mechanism, the speed reduction mechanism 3 is provided with two input shafts, one of the input shafts is connected with an output end of the steering motor 2 to be controlled by the electronic control unit 1 through the rotating motor, the other input shaft is rotationally connected with an operating mechanism 4 for artificial steering, and the other input shaft is provided with a torque sensor which is used for monitoring the control of the electronic control unit 1 to the steering motor 2 after the operation mechanism 4 acts, so that in the actual steering process, if in the environment of complicated or need artificially to control and turn to, technical staff in this field can direct manual control operating device 4, torque sensor direct control electronic control unit 1 disconnection and the signal transmission who turns to motor 2 then realize the conversion of manual operation, for the setting of the complicated mechanism of transfer device, collection system, master control set, running gear in the prior art, the structure in this application is then simple effective, not only adapts to different operational environment, and effectual use and the transformation cost that has reduced moreover.

The steering mechanism comprises a steering gear 6 for pushing wheels 9 to swing left and right, and a steering rack 7 connected to the steering gear 6 in a meshed mode, the steering rack 7 is connected between two wheels 9 in the same row, the steering gear 6 is connected to an output shaft 5 of the speed reducing mechanism 3 in a rotating mode, the output shaft 5 of the speed reducing mechanism 3 directly drives the steering gear 6 to rotate under the driving of a rotating motor, the steering rack 7 can move left and right along with the rotation of the steering gear 6, the wheels 9 are driven to swing, steering action is achieved, and the effectiveness of steering is guaranteed.

Further, the two ends of the steering rack 7 are hinged with movable connecting rods 8 connected with wheels 9, rigid connection between the steering rack 7 and the wheels 9 is avoided by arranging the movable connecting rods 8, so that connection buffering can be formed between the steering rack 7 and the wheels 9, abrasion between the steering rack 7 and the wheels 9 is reduced, and the service life of the whole steering structure is prolonged.

Preferably, the input shaft connected with the steering motor 2 is provided with a clutch, the clutch is electrically connected with the torque sensor, and the torque sensor is enabled to be directly disconnected from the transmission connection of the rotating motor and the speed reducing mechanism 3 after detecting manual operation by arranging the clutch, so that the rotating motor is prevented from having output torque to influence the manual operation of the rotating speed reducing mechanism 3.

Further, still provide a vehicle running gear, including advancing mechanism and the a steering system who applies to the vehicle, the structure of advancing includes a plurality of wheels 9 that set up in the vehicle both sides along vehicle advancing direction symmetry to guarantee whole vehicle running gear's stationarity, and two wheels 9 of same row are connected at steering rack 7 both ends, and the wheel 9 to same row carries out steering control simultaneously, has guaranteed the validity that turns to. The whole vehicle running device adopts the polymer lithium ion battery to provide power for the heavy vehicle, can be remotely controlled or electrically controlled to run, can also be powered by a cable, and can also be charged at any time by an inverter power supply so as to meet the power supply requirement and the emergency condition requirement of field operation.

Wherein, be equipped with braking system on the advancing mechanism, braking system replaces traditional mechanical hand braking system by electron parking subsystem. Braking system is including setting up brake motor and the brake caliper on wheel 9, carry out linear control to brake caliper through brake motor, realize the initiative braking control of remote control driving, it is concrete, brake caliper includes piston and the brake block of setting on the piston, piston sliding connection is at brake motor's output and extrudees the brake block on the brake disc of wheel 9, when starting brake caliper, the piston can drive the brake block and extrude on the brake disc of wheel 9, in order to carry out friction braking to wheel 9, guarantee the validity to whole vehicle braking. Preferably, the braking motor is a direct current motor, so as to ensure good starting and speed regulating performance and wide and smooth speed regulating range, and the output end of the direct current motor is provided with a speed reducing mechanism 3 so as to effectively regulate the braking range.

Furthermore, the advancing mechanism is provided with a rotating motor for driving the wheels 9 to advance and retreat, and the rotating motors are synchronously connected in a rotating way. The optimized rotating motor adopts a permanent magnet synchronous motor, because the loss of an excitation system is cancelled, the efficiency is improved, the advancing synchronism of the wheels 9 is ensured, the structure is simple, the operation is reliable, the self weight is effectively reduced, the influence on the advancing of the wheels 9 can be further reduced, the energy consumption is reduced, and meanwhile, because the size and the shape of the permanent magnet synchronous motor are flexible and various, the permanent magnet synchronous motor can adapt to the appearance structures of different wheels 9, and the self adaptability is improved.

The remote control running integrates the wireless remote control technology with the mechanical, hydraulic and electronic control of the engineering vehicle. Which comprises the following steps: wireless instruction transmitter, remote control instruction receiver. The remote control command sent by the wireless remote control transmitter is subjected to coding, carrier modulation and signal amplification, and then is sent to a host of the heavy vehicle in a radio wave mode through the remote control transmitter; the receiver on the heavy vehicle amplifies, demodulates, decodes and drives the received remote control signal and then sends the remote control signal to the PLC. Various electromechanical liquid conversion elements on the heavy vehicle respectively drive corresponding actuating mechanisms and rotating mechanisms to complete corresponding action instructions under the PLC instructions, and the action instructions can meet the normal operation of the heavy vehicle.

Further, the remote control system for remotely controlling the traveling system and the steering system applied to the vehicle is further included, an operator controls the traveling direction, steering and braking through the remote control device, the remote control system comprises a distributed architecture, the subsystems mainly comprise a remote control subsystem, a steering subsystem, a braking subsystem, the traveling subsystem and the like, all the systems are connected through a CAN bus network, the remote control system comprises a remote control handle 10, the remote control handle 10 mainly comprises keys, a radio frequency sending chip and a radio frequency receiving device, a signal generator 13 and a steering control switch 12 electrically connected with the signal generator 13 are arranged on the specific remote control handle 10, and an electronic control unit 1 used for receiving a steering instruction sent by the signal generator 13 is arranged on the steering system applied to the vehicle. Actuation of the remote control handle 10 actuates a switch 11 which controls the travel of the heavy vehicle via a steering control switch 12 and a travel switch 14 and a signal transmitter, and a brake switch 15 which controls the braking system thereof.

Preferably, the control of the remote control system is mainly the control of the permanent magnet synchronous motor and the brake motor. Wherein, the remote control handle 10 is provided with a brake switch 15 electrically connected with the signal generator 13, and the brake motor is electrically connected with a brake controller for receiving the brake signal sent by the signal generator 13. And the remote control handle 10 is provided with a traveling switch 14 electrically connected with the signal generator 13, and the rotating motor is electrically connected with a synchronous motor controller for receiving a traveling signal sent by the signal generator 13. When the vehicle runs, the signal generator 13 sends a running signal, the brake controller receives the signal and sends the running signal to the brake motor, so that the brake motor is changed from a working state to a non-working state, and simultaneously, the brake controller sends a running instruction to the permanent magnet synchronous motor to control the positive rotation of the permanent magnet synchronous motor, so that the vehicle starts running. And when the vehicle runs reversely, the reverse rotation of the permanent magnet synchronous motor is controlled.

The adaptation according to the actual needs is within the scope of the utility model.

It will be evident to those skilled in the art that the utility model is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the utility model being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

The principle and the implementation mode of the utility model are explained by applying a specific example, and the description of the embodiment is only used for helping to understand the method and the core idea of the utility model; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the utility model.

Claims (10)

1. The utility model provides a be applied to steering system of vehicle, its characterized in that, including steering motor, steering mechanism, the control that the drive wheel turned to steering motor drive steering mechanism's electronic control unit, steering motor with be connected with reduction gears between the steering mechanism, reduction gears is equipped with two input shafts, one of them the input shaft is connected steering motor's output, another the input shaft rotates and is connected with the operating device who is used for artificial steering, and another be equipped with torque sensor on the input shaft, torque sensor is used for monitoring disconnection behind the operating device action electronic control unit is right steering motor's control.

2. The steering system for the vehicle according to claim 1, wherein the steering mechanism comprises a steering gear for driving the wheels to swing left and right, and a steering rack engaged with the steering gear, the steering rack is connected between two wheels in the same row, and the steering gear is rotatably connected to the output shaft of the speed reducing mechanism.

3. The steering system for a vehicle according to claim 2, wherein both ends of the steering rack are hinged with a movable connecting rod connected with a wheel.

4. The steering system for the vehicle according to any one of claims 2 to 3, wherein a clutch is provided on the input shaft to which the steering motor is connected, the clutch being electrically connected to the torque sensor.

5. A vehicle running gear to which a steering system for a vehicle according to any one of claims 2 to 4 is applied, comprising a running mechanism and the steering system for a vehicle, wherein the running mechanism comprises a plurality of wheels symmetrically arranged on both sides of the vehicle in a running direction of the vehicle, and the two wheels in the same row are connected to both ends of the steering rack.

6. The vehicle running device according to claim 5, wherein a brake system is provided on the traveling mechanism, the brake system includes a brake motor and a brake caliper, the brake caliper includes a piston and a brake pad, the brake pad is provided on the piston, the piston is slidably connected to an output end of the brake motor and presses the brake pad against a brake disc of the wheel.

7. The vehicle running device according to claim 6, wherein the running mechanism is provided with rotating motors that drive the wheels to run and retreat, and the rotating motors are connected in a synchronous rotation manner.

8. The vehicle running device according to claim 7, further comprising a remote control system for remotely controlling the traveling mechanism and the steering system applied to the vehicle, wherein the remote control system comprises a remote control handle, the remote control handle is provided with a signal generator and a steering control switch electrically connected with the signal generator, and the steering system applied to the vehicle is provided with the electronic control unit for receiving a steering command sent by the signal generator.

9. The vehicle running device according to claim 8, wherein a brake switch electrically connected to the signal generator is provided on the remote control handle, and a brake controller for receiving a brake signal from the signal generator is electrically connected to the brake switch.

10. The vehicle running device according to claim 9, wherein a travel switch electrically connected to the signal generator is provided on the remote control handle, and the rotating electric machine is electrically connected to a synchronous machine controller for receiving a travel signal from the signal generator.

Images