技术领域technical field
本申请涉及电动赛车技术领域，尤其涉及一种用于电动赛车的后轮转向驱动机构及电动赛车。The present application relates to the technical field of electric racing cars, in particular to a rear wheel steering drive mechanism for electric racing cars and the electric racing cars.
背景技术Background technique
随着现代交通系统的越趋复杂以及汽车技术的不断发展，汽车的主动安全也日益受到重视，特别是先进的主动底盘控制技术更是汽车发展的重要方向。With the increasingly complex modern traffic system and the continuous development of automobile technology, the active safety of automobiles has been paid more and more attention, especially the advanced active chassis control technology is an important direction of automobile development.
自发明汽车后，前轮转向一直是汽车转向的主要方式。但是前轮转向汽车有其固有的缺陷：低速时转向响应慢、转弯半径大、转向笨重；高速时转向稳定性差、超车变道困难等。特别是随着汽车的增加，小区停车空间越来越拥挤，汽车泊车、掉头的空间越来越小；高速公路网络纵横延伸，汽车行驶速度越来越高速化，人们对汽车高速行驶操纵稳定性和安全性的要求越来越严格。在这些情况下，前轮转向的缺陷就越来越明显，急需新的技术来解决。Front-wheel steering has been the primary way cars have been turned since the invention of the car. However, front-wheel steering vehicles have inherent defects: slow steering response at low speeds, large turning radius, and heavy steering; poor steering stability at high speeds, and difficulty in overtaking and changing lanes. Especially with the increase of cars, the parking space in the community is becoming more and more crowded, and the space for cars to park and turn around is getting smaller and smaller; the expressway network is extending vertically and horizontally, and the speed of cars is getting higher and higher, and people's control of cars at high speeds is stable. The requirements for safety and security are becoming more and more stringent. Under these circumstances, the defect of front-wheel steering is just more and more obvious, and new technology is urgently needed to solve.
现有技术中后轮通常使用随动转向系统，在驾驶过程中无法实现动态响应，从而控制车身姿态。In the prior art, the rear wheels usually use a follow-up steering system, which cannot achieve dynamic response during driving, thereby controlling the posture of the vehicle body.
发明内容SUMMARY OF THE INVENTION
本申请的目的在于提供一种用于电动赛车的后轮转向驱动机构及电动赛车，解决现有技术中后轮驱动机构无法实现动态响应的问题。The purpose of this application is to provide a rear wheel steering drive mechanism for an electric racing car and an electric racing car to solve the problem that the rear wheel drive mechanism in the prior art cannot achieve dynamic response.
有鉴于此，本申请第一方面提供了一种用于电动赛车的后轮转向驱动机构，包括电机支座、编码器支座、电机、第一齿轮、第二齿轮、丝杆、丝杆同步带轮、传送带、编码器同步带轮和编码器；In view of this, the first aspect of the present application provides a rear wheel steering drive mechanism for an electric racing car, including a motor support, an encoder support, a motor, a first gear, a second gear, a screw, and a screw synchronous pulleys, conveyor belts, encoder timing pulleys and encoders;
所述电机固定设置于所述电机支座的一端，所述电机支座上开设有用于所述电机的转轴穿过的通孔，所述第二齿轮设置于所述转轴上；The motor is fixedly arranged at one end of the motor support, and the motor support is provided with a through hole for the rotating shaft of the motor to pass through, and the second gear is arranged on the rotating shaft;
所述编码器固定设置于所述编码器支座的一端，所述编码器支座上开设有用于所述编码器的输出轴穿过的通孔，所述编码器同步带轮设置于所述输出轴上；The encoder is fixedly arranged at one end of the encoder support, and the encoder support is provided with a through hole for the output shaft of the encoder to pass through, and the encoder synchronous pulley is arranged on the on the output shaft;
所述第一齿轮与所述丝杆螺纹连接，所述丝杆同步带轮与所述第一齿轮的相对位置固定；The first gear is threadedly connected to the screw mandrel, and the relative position of the screw mandrel synchronous pulley and the first gear is fixed;
所述丝杆的两端分别穿过所述电机支座和所述编码器支座上方开设的圆槽与所述电机支座和所述编码器支座转动连接；The two ends of the screw rod respectively pass through the circular grooves opened above the motor support and the encoder support to be rotatably connected to the motor support and the encoder support;
与所述第一齿轮与所述第二齿轮齿轮配合，所述丝杆同步带轮通过所述传送带与所述编码器同步带轮连接。Cooperating with the first gear and the second gear, the screw synchronous pulley is connected with the encoder synchronous pulley through the transmission belt.
优选的，还包括丝杆螺帽；Preferably, it also includes a screw nut;
所述第一齿轮的中心口与所述丝杆螺帽的外侧壁固定连接，通过所述丝杆螺帽的内螺纹与所述丝杆螺纹连接；The central opening of the first gear is fixedly connected to the outer wall of the screw nut, and is threadedly connected to the screw rod through the internal thread of the screw nut;
所述丝杆同步带轮与所述丝杆螺帽固定连接。The screw synchronous pulley is fixedly connected with the screw nut.
优选的，还包括同步带轮固定器；Preferably, it also includes a synchronous pulley fixer;
所述同步带轮固定器与所述丝杆螺帽固定连接；The timing pulley fixer is fixedly connected with the screw nut;
所述丝杆同步带轮嵌套于所述同步带轮固定器上，依次通过所述同步带轮固定器和所述丝杆螺帽实现与所述第一齿轮的相对位置固定。The screw synchronous pulley is nested on the synchronous pulley fixer, and the relative position of the first gear is fixed through the timing pulley fixer and the screw nut in sequence.
优选的，所述同步带轮固定器的侧面开设有螺纹孔，所述丝杆同步带轮的侧面开设有相同规格的螺纹孔，所述同步带轮固定器和所述丝杆同步带轮通过紧定螺栓与螺纹孔进行定位。Preferably, the side of the synchronous pulley fixer is provided with threaded holes, and the side of the screw synchronous pulley is provided with threaded holes of the same specification, and the synchronous pulley fixer and the screw synchronous pulley pass through The set bolt is positioned with the threaded hole.
优选的，还包括两块固定块；Preferably, it also includes two fixed blocks;
两块所述固定块分别安装于所述电机支座和所述编码器支座上；The two fixed blocks are installed on the motor support and the encoder support respectively;
所述固定块上开设有用于所述丝杆穿过的通槽，且所述通槽中设置有用于与所述丝杆转动连接的直排滚针轴承。The fixed block is provided with a through groove for the screw rod to pass through, and an in-line needle roller bearing for rotational connection with the screw rod is arranged in the through groove.
优选的，还包括平面推力轴承；Preferably, it also includes a plane thrust bearing;
所述平面推力轴承压入所述电机支座和所述编码器支座的圆槽中。The plane thrust bearing is pressed into the circular grooves of the motor support and the encoder support.
优选的，还包括外壳；Preferably, it also includes a shell;
所述外壳与所述电机支座和所述编码器支座可拆卸连接。The housing is detachably connected to the motor support and the encoder support.
优选的，所述电机支座和所述编码器支座的侧面设置有耳片，所述外壳上设置有安装孔；Preferably, lugs are provided on the sides of the motor support and the encoder support, and mounting holes are provided on the housing;
所述耳片与所述安装孔通过螺栓连接。The lugs are connected to the mounting holes by bolts.
优选的，所述转轴的横截面为“D”字型，所述第二齿轮的中心孔为与所述转轴的横截面匹配的“D”型孔。Preferably, the cross-section of the rotating shaft is "D"-shaped, and the central hole of the second gear is a "D"-shaped hole matching the cross-section of the rotating shaft.
本申请第二方面提供了一种电动赛车，其特征在于，包括权利要求1至7任一项所述的后轮转向驱动机构、车架和固定座；The second aspect of the present application provides an electric racing car, which is characterized in that it includes the rear wheel steering drive mechanism, frame and fixing seat described in any one of claims 1 to 7;
所述后轮转向驱动机构的电机支座和编码器支座安装于所述固定座上；The motor support and the encoder support of the rear wheel steering drive mechanism are installed on the fixed seat;
所述固定座与所述车架固定连接。The fixing seat is fixedly connected with the vehicle frame.
与现有技术相比，本申请实施例的优点在于：Compared with the prior art, the advantages of the embodiment of the present application are:
本申请实施例中，提供了一种用于电动赛车的后轮转向驱动机构及电动赛车，后轮转向驱动机构包括电机支座、编码器支座、电机、第一齿轮、第二齿轮、丝杆、丝杆同步带轮、传送带、编码器同步带轮和编码器；电机固定设置于电机支座的一端，电机支座上开设有用于电机的转轴穿过的通孔，第二齿轮设置于转轴上；编码器固定设置于编码器支座的一端，编码器支座上开设有用于编码器的输出轴穿过的通孔，编码器同步带轮设置于输出轴上；第一齿轮与丝杆螺纹连接，丝杆同步带轮与第一齿轮的相对位置固定；丝杆的两端分别穿过电机支座和编码器支座上方开设的圆槽与电机支座和编码器支座转动连接；第一齿轮与第二齿轮齿轮配合，丝杆同步带轮通过传送带与编码器同步带轮连接。通过电机转轴的旋转，依次带动第二齿轮、第一齿轮、丝杆、丝杆同步带轮、编码器同步带轮，最后带动编码器输出轴的旋转，从而实现编码器的数据采集，根据采集到的数据能够准确计算出第一齿轮的转角数据，并反馈给用户，从而实现对后轮转向的精准控制，实现动态响应，解决现有了技术中后轮驱动机构无法实现动态响应的问题，能够更好地调整车身姿态，降低车手驾驶难度。In the embodiment of the present application, a rear wheel steering drive mechanism for an electric racing car and an electric racing car are provided. The rear wheel steering drive mechanism includes a motor support, an encoder support, a motor, a first gear, a second gear, a wire Rod, screw synchronous pulley, conveyor belt, encoder synchronous pulley and encoder; the motor is fixed at one end of the motor support, and the motor support is provided with a through hole for the shaft of the motor to pass through, and the second gear is arranged on On the rotating shaft; the encoder is fixedly arranged at one end of the encoder support, and the encoder support is provided with a through hole for the output shaft of the encoder to pass through, and the encoder synchronous pulley is arranged on the output shaft; the first gear and the wire The rod is threaded, and the relative position of the screw synchronous pulley and the first gear is fixed; the two ends of the screw respectively pass through the circular grooves opened above the motor support and the encoder support to rotate and connect with the motor support and the encoder support ; The first gear cooperates with the second gear, and the screw synchronous pulley is connected with the encoder synchronous pulley through the conveyor belt. Through the rotation of the motor shaft, the second gear, the first gear, the screw, the screw synchronous pulley, the encoder synchronous pulley are sequentially driven, and finally the output shaft of the encoder is driven to rotate, thereby realizing the data collection of the encoder. According to the collection The obtained data can accurately calculate the rotation angle data of the first gear, and feed it back to the user, so as to realize precise control of the rear wheel steering and dynamic response, and solve the problem that the rear wheel drive mechanism cannot achieve dynamic response in the existing technology. It can better adjust the body posture and reduce the driver's driving difficulty.
附图说明Description of drawings
为了更清楚地说明本申请具体实施方式或现有技术中的技术方案，下面将对具体实施方式或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图是本申请的一些实施方式，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the following will briefly introduce the accompanying drawings that need to be used in the description of the specific embodiments or prior art. Obviously, the accompanying drawings in the following description The drawings are some implementations of the present application, and those skilled in the art can obtain other drawings based on these drawings without creative work.
图1为本申请实施例所提供的后轮转向驱动机构的结构示意图；FIG. 1 is a schematic structural view of a rear wheel steering drive mechanism provided by an embodiment of the present application;
图2为本申请实施例所提供的后轮转向驱动机构的部分零件第一角度示意图；Fig. 2 is a first angle schematic diagram of some parts of the rear wheel steering drive mechanism provided by the embodiment of the present application;
图3为本申请实施例所提供的后轮转向驱动机构的部分零件第二角度示意图；Fig. 3 is a second angle schematic diagram of some parts of the rear wheel steering drive mechanism provided by the embodiment of the present application;
图4为本申请实施例所提供的后轮转向驱动机构的丝杆结构示意图；Fig. 4 is a schematic diagram of the screw structure of the rear wheel steering drive mechanism provided by the embodiment of the present application;
图5为本申请实施例所提供的后轮转向驱动机构的第一齿轮的装配示意图；Fig. 5 is an assembly schematic diagram of the first gear of the rear wheel steering drive mechanism provided by the embodiment of the present application;
图6为本申请实施例所提供的后轮转向驱动机构的带轮装配示意图；Fig. 6 is a schematic diagram of the pulley assembly of the rear wheel steering drive mechanism provided by the embodiment of the present application;
图7为本申请实施例所提供的后轮转向驱动机构的固定块的结构示意图；Fig. 7 is a schematic structural view of the fixed block of the rear wheel steering drive mechanism provided by the embodiment of the present application;
图8为本申请实施例所提供的后轮转向驱动机构的外壳装配示意图；Fig. 8 is a schematic diagram of housing assembly of the rear wheel steering drive mechanism provided by the embodiment of the present application;
图9为本申请实施例所提供的后轮转向驱动机构的整体装配示意图；9 is a schematic diagram of the overall assembly of the rear wheel steering drive mechanism provided by the embodiment of the present application;
图10为本申请实施例所提供的后轮转向驱动机构在电动赛车上的装配示意图。Fig. 10 is a schematic diagram of the assembly of the rear wheel steering drive mechanism provided by the embodiment of the present application on the electric racing car.
具体实施方式Detailed ways
下面将结合附图对本申请的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。The technical solutions of the present application will be clearly and completely described below in conjunction with the accompanying drawings. Apparently, the described embodiments are some of the embodiments of the present application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.
在本申请的描述中，需要说明的是，术语“中心”、“上”、“下”、“左”、“右”、“竖直”、“水平”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。此外，术语“第一”、“第二”、“第三”仅用于描述目的，而不能理解为指示或暗示相对重要性。In the description of this application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" etc. The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, use a specific orientation construction and operation, therefore should not be construed as limiting the application. Furthermore, the terms "first", "second", and "third" are used for descriptive purposes only and should not be construed to indicate or imply relative importance.
除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本申请中的具体含义。Unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be interpreted in a broad sense, for example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection, It can also be an electrical connection; it can be a direct connection, or an indirect connection through an intermediary, or an internal communication between two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in this application in specific situations.
请参阅图1至图9。See Figures 1 through 9.
本申请设计了一种用于电动赛车的后轮转向驱动机构，包括电机支座232、编码器支座233、电机236、第一齿轮223、第二齿轮235、丝杆222、丝杆同步带轮241、传送带243、编码器同步带轮242和编码器237。This application designs a rear wheel steering drive mechanism for electric racing cars, including motor support 232, encoder support 233, motor 236, first gear 223, second gear 235, screw mandrel 222, screw mandrel timing belt Wheel 241, conveyor belt 243, encoder timing pulley 242 and encoder 237.
电机236固定设置于电机支座232的一端，具体为通过螺栓与电机支座232的四个安装孔固定。电机支座232上开设有用于电机236的转轴穿过的通孔，第二齿轮235设置于转轴上，电机236能够带动第二齿轮235旋转。The motor 236 is fixedly arranged at one end of the motor support 232 , specifically, is fixed to four mounting holes of the motor support 232 by bolts. The motor support 232 is provided with a through hole for the shaft of the motor 236 to pass through. The second gear 235 is disposed on the shaft, and the motor 236 can drive the second gear 235 to rotate.
编码器237固定设置于编码器支座233的一端，编码器支座233上开设有用于编码器237的输出轴穿过的通孔，编码器同步带轮242设置于输出轴上。编码器同步带轮242的旋转带动编码器237的输出轴旋转，实现编码器237的数据采集。The encoder 237 is fixedly arranged at one end of the encoder support 233, and the encoder support 233 is provided with a through hole for the output shaft of the encoder 237 to pass through, and the encoder synchronous pulley 242 is arranged on the output shaft. The rotation of the encoder synchronous pulley 242 drives the rotation of the output shaft of the encoder 237 to realize the data collection of the encoder 237 .
第一齿轮223与丝杆222螺纹连接，需要说明的是，此处的螺纹连接具体指：第一齿轮223的中心孔的内螺纹与丝杆222的外螺纹匹配，当第一齿轮223绕其中心轴旋转时，能够带动丝杆222第一齿轮223的中心轴方向上平移。The first gear 223 is threadedly connected with the screw mandrel 222. It should be noted that the threaded connection here specifically refers to: the internal thread of the central hole of the first gear 223 matches the external thread of the screw mandrel 222, when the first gear 223 is wound around it When the central axis rotates, it can drive the screw rod 222 to translate in the direction of the central axis of the first gear 223 .
丝杆同步带轮241与第一齿轮223的相对位置固定，即第一齿轮从233旋转的同时，能够带动丝杆同步带轮241旋转，具体可以将丝杆同步带轮241固定在第一齿轮233上，且两者的中心轴位于同一条直线上。The relative position of the screw synchronous pulley 241 and the first gear 223 is fixed, that is, when the first gear rotates from 233, it can drive the screw synchronous pulley 241 to rotate, specifically the screw synchronous pulley 241 can be fixed on the first gear 233, and the central axes of both are on the same straight line.
丝杆222的两端分别穿过电机支座232和编码器支座233上方开设的圆槽与电机支座232和编码器支座233转动连接。此处的转动连接指的是丝杆222能够在两个支座的圆槽中旋转。即第一齿轮223、编码器同步带轮241位于电机支座232和编码器支座233之间，电机236和编码器237的主体位于电机支座232和编码器支座233两端。The two ends of the screw rod 222 respectively pass through the circular grooves provided above the motor support 232 and the encoder support 233 to be rotationally connected with the motor support 232 and the encoder support 233 . The rotational connection here means that the screw rod 222 can rotate in the circular grooves of the two supports. That is, the first gear 223 and the encoder synchronous pulley 241 are located between the motor support 232 and the encoder support 233 , and the main bodies of the motor 236 and the encoder 237 are located at both ends of the motor support 232 and the encoder support 233 .
第一齿轮223与第二齿轮235齿轮配合，即电机236带动第二齿轮235旋转，第二齿轮235带动第一齿轮223旋转。丝杆同步带轮241通过传送带243与编码器同步带轮242连接，具体的，丝杆同步带轮241与编码器同步带轮242外轮廓均是齿形，同时同步带243的内轮廓为齿形，用于与丝杆同步带轮241和编码器同步带轮242的外齿形啮合传动。The first gear 223 cooperates with the second gear 235 , that is, the motor 236 drives the second gear 235 to rotate, and the second gear 235 drives the first gear 223 to rotate. The screw synchronous pulley 241 is connected with the encoder synchronous pulley 242 through the conveyor belt 243. Specifically, the outer contours of the screw synchronous pulley 241 and the encoder synchronous pulley 242 are toothed, and the inner contour of the synchronous belt 243 is toothed. Shape, for the external gear meshing transmission with the screw synchronous pulley 241 and the encoder synchronous pulley 242.
第一齿轮223的旋转带动丝杆同步带轮236的旋转，从而带动编码器同步带轮242旋转，最后带动编码器237的输出轴旋转，实现对齿轮转速的确定，实现后轮转向驱动机构的主动控制。The rotation of the first gear 223 drives the rotation of the threaded mandrel synchronous pulley 236, thereby drives the rotation of the encoder synchronous pulley 242, and finally drives the output shaft of the encoder 237 to rotate, so as to realize the determination of the gear speed and realize the rear wheel steering drive mechanism. active control.
本申请实施例所提供的后轮转向驱动机构，包括电机支座、编码器支座、电机、第一齿轮、第二齿轮、丝杆、丝杆同步带轮、传送带、编码器同步带轮和编码器；电机固定设置于电机支座的一端，电机支座上开设有用于电机的转轴穿过的通孔，第二齿轮设置于转轴上；编码器固定设置于编码器支座的一端，编码器支座上开设有用于编码器的输出轴穿过的通孔，编码器同步带轮设置于输出轴上；第一齿轮与丝杆螺纹连接，丝杆同步带轮与第一齿轮的相对位置固定；丝杆的两端分别穿过电机支座和编码器支座上方开设的圆槽与电机支座和编码器支座转动连接；第一齿轮与第二齿轮齿轮配合，丝杆同步带轮通过传送带与编码器同步带轮连接。通过电机转轴的旋转，依次带动第二齿轮、第一齿轮、丝杆、丝杆同步带轮、编码器同步带轮，最后带动编码器输出轴的旋转，从而实现编码器的数据采集，根据采集到的数据能够准确计算出第一齿轮的转角数据，并反馈给用户，从而实现对后轮转向的精准控制，实现动态响应，解决现有了技术中后轮驱动机构无法实现动态响应的问题，能够更好地调整车身姿态，降低车手驾驶难度。此外，本申请所提供的用于电动赛车的后轮转向驱动机构，将电机的旋转运动转变为丝杆的直线运动，然后通过与丝杆连接的后轮横拉杆来推动后轮的旋转，实现后轮的主动控制，充分考虑了赛车后桥部分的空间位置，构建了合理紧凑的转向机构。The rear wheel steering drive mechanism provided in the embodiment of the present application includes a motor support, an encoder support, a motor, a first gear, a second gear, a screw, a screw synchronous pulley, a conveyor belt, an encoder synchronous pulley and Encoder; the motor is fixed on one end of the motor support, and the motor support is provided with a through hole for the motor shaft to pass through, and the second gear is arranged on the shaft; the encoder is fixed on one end of the encoder support. There is a through hole for the output shaft of the encoder to pass through on the support of the encoder, and the synchronous pulley of the encoder is arranged on the output shaft; the first gear is threaded with the screw, and the relative position of the synchronous pulley of the screw and the first gear Fixed; the two ends of the screw rod pass through the circular grooves above the motor support and the encoder support respectively to connect with the motor support and the encoder support; the first gear is matched with the second gear, and the screw synchronous pulley It is connected with the encoder timing pulley through the conveyor belt. Through the rotation of the motor shaft, the second gear, the first gear, the screw, the screw synchronous pulley, the encoder synchronous pulley are sequentially driven, and finally the output shaft of the encoder is driven to rotate, thereby realizing the data collection of the encoder. According to the collection The obtained data can accurately calculate the rotation angle data of the first gear, and feed it back to the user, so as to realize precise control of the rear wheel steering and dynamic response, and solve the problem that the rear wheel drive mechanism cannot achieve dynamic response in the existing technology. It can better adjust the body posture and reduce the driver's driving difficulty. In addition, the rear wheel steering drive mechanism for electric racing cars provided by this application converts the rotational motion of the motor into the linear motion of the screw, and then drives the rotation of the rear wheel through the rear wheel tie rod connected with the screw to achieve The active control of the rear wheel fully considers the spatial position of the rear axle of the racing car, and constructs a reasonable and compact steering mechanism.
关于第一齿轮223与丝杆222螺纹连接，除了上述描写到的在第一齿轮223的中心孔处开设内螺纹以外，还可以在第一齿轮223和丝杆222之间设置一个丝杆螺帽221，丝杆螺帽221的内螺纹与丝杆222螺纹配合连接，且第一齿轮223套装于丝杆螺帽221上，且与丝杆螺帽221固定连接，即第一齿轮223的旋转会带动丝杆螺帽221的同步旋转。增设丝杆螺帽221能够避免直接在第一齿轮223的中心孔开设内螺纹而直接与丝杆222接触，延长了第一齿轮223的寿命。Regarding the threaded connection between the first gear 223 and the screw mandrel 222, in addition to the internal thread provided at the center hole of the first gear 223 as described above, a screw nut can also be arranged between the first gear 223 and the screw mandrel 222. 221, the internal thread of the screw nut 221 is threadedly connected with the screw nut 222, and the first gear 223 is set on the screw nut 221, and is fixedly connected with the screw nut 221, that is, the rotation of the first gear 223 will Drive the synchronous rotation of screw nut 221. Adding the screw nut 221 can prevent the internal thread from being directly contacted with the screw rod 222 in the center hole of the first gear 223 , prolonging the life of the first gear 223 .
此外，丝杆同步带轮241除了与第一齿轮223直接接触以外，还可以增设同步带轮固定器224。同步带轮固定器224与丝杆螺帽221固定连接，丝杆同步带轮241嵌套于同步带轮固定器224上，依次通过同步带轮固定器224和丝杆螺帽221实现与第一齿轮223的相对位置固定。具体的：丝杆螺帽221装配在丝杆222上，丝杆螺帽221内螺纹与丝杆222配合连接，用4个螺栓将第一齿轮223和同步带轮固定器224一同固定到丝杆螺帽221上，将丝杆螺帽221、第一齿轮223、同步带轮固定器224形成一体。In addition, besides the screw synchronous pulley 241 being in direct contact with the first gear 223 , a synchronous pulley fixer 224 can also be added. The synchronous pulley fixer 224 is fixedly connected with the screw nut 221, and the screw synchronous pulley 241 is nested on the synchronous pulley fixer 224, and the synchronous pulley fixer 224 and the screw nut 221 realize the connection with the first The relative position of the gear 223 is fixed. Specifically: the screw nut 221 is assembled on the screw rod 222, the internal thread of the screw nut 221 is connected with the screw rod 222, and the first gear 223 and the timing pulley holder 224 are fixed to the screw rod together with four bolts On the nut 221, the screw nut 221, the first gear 223, and the timing pulley fixer 224 are integrated.
为了使丝杆同步带轮241与同步带轮固定器224之间的配合更加牢靠，除了使用过盈配合的装配方式，一种更优选的方法是：在同步带轮固定器224的侧面开设螺纹孔，丝杆同步带轮241的侧面开设相同规格的螺纹孔，同步带轮固定器224和丝杆同步带轮241通过紧定螺栓与螺纹孔的配合进行定位和装配。同理，第一齿轮223和丝杆螺帽221、第二齿轮和235电机236转轴、编码器同步带轮242和编码器237输出轴，均可以采用上述的紧定螺栓和螺纹孔的配合方式装配。In order to make the cooperation between the screw synchronous pulley 241 and the synchronous pulley holder 224 more reliable, in addition to using the assembly method of interference fit, a more preferred method is to provide threads on the side of the synchronous pulley holder 224 Hole, the side of screw mandrel synchronous pulley 241 offers the threaded hole of same specification, and synchronous pulley fixer 224 and screw mandrel synchronous pulley 241 are positioned and assembled by the cooperation of set bolt and threaded hole. Similarly, the first gear 223 and the screw nut 221, the second gear and the 235 motor 236 shaft, the encoder synchronous pulley 242 and the encoder 237 output shaft can all adopt the above-mentioned matching method of the set bolt and the threaded hole assembly.
除了以上的装配方式，本申请实施例还提出了另一种兼具孔轴的定位和同步转动的另一种装配方式，以电机236的转轴和第二齿轮235之间的配合为例：将转轴的横截面设置为“D”字型，第二齿轮235的中心孔为与转轴的横截面匹配的“D”型孔。同样，编码器237的输出轴和编码器同步带轮242也可以采用此种配合方式。进一步的，也可将“D”型孔的装配方式和紧定螺栓的配合方式结合，“D”型孔所呈现的平面为紧定螺栓提供了加工卡位。需要说明的是“D”型孔是常见的一种实现孔轴同步转动的一种孔，另外还有三角形孔、方形孔、矩形孔等，均可以实现同等的效果。In addition to the above assembly methods, the embodiment of the present application also proposes another assembly method that combines the positioning and synchronous rotation of the hole shaft. Take the cooperation between the rotating shaft of the motor 236 and the second gear 235 as an example: The cross-section of the rotating shaft is set in a "D" shape, and the central hole of the second gear 235 is a "D"-shaped hole matching the cross-section of the rotating shaft. Similarly, the output shaft of the encoder 237 and the synchronous pulley 242 of the encoder can also adopt this matching method. Furthermore, the assembling method of the "D"-shaped hole can also be combined with the matching method of the set bolt, and the plane presented by the "D"-shaped hole provides a processing stop for the set bolt. It should be noted that the "D"-shaped hole is a common hole that realizes the synchronous rotation of the hole axis. There are also triangular holes, square holes, rectangular holes, etc., all of which can achieve the same effect.
本申请实施例所提供的后轮转向驱动机构还包括两块固定块211，两块固定块分别安装于电机支座232和编码器支座233上。固定块211上开设有用于丝杆222穿过的通槽，且通槽中设置有用于与丝杆222转动连接的直排滚针轴承213。具体的，还包括垫片212。固定块211内上下对称设置两个槽用于直排滚针轴承213的安装，垫片212前后设两个螺栓孔用于与有相同孔位的固定块211的连接，继而通过螺栓和螺母穿过孔固定到电机支座232及编码器支座233上。垫片212中间设有用于丝杆222杆端通过并且实现限制直排滚针轴承213滑出的作用的通孔。The rear wheel steering drive mechanism provided in the embodiment of the present application further includes two fixing blocks 211, and the two fixing blocks are installed on the motor support 232 and the encoder support 233 respectively. The fixing block 211 is provided with a through slot for the threaded rod 222 to pass through, and an in-line needle roller bearing 213 for rotatably connected with the threaded rod 222 is arranged in the through slot. Specifically, gaskets 212 are also included. Two grooves are arranged symmetrically up and down in the fixed block 211 for the installation of the in-line needle roller bearing 213, and two bolt holes are set at the front and back of the gasket 212 for connection with the fixed block 211 with the same hole position, and then through the bolts and nuts. The through holes are fixed to the motor support 232 and the encoder support 233 . A through hole is provided in the middle of the washer 212 for the rod end of the screw rod 222 to pass through and to realize the function of restricting the in-line needle roller bearing 213 from slipping out.
进一步的，在电机支座232和编码器支座233的圆槽中还设置有平面推力轴承234。平面推力轴承234采用过盈配合的方式，压入电机支座232和编码器支座233对应的圆槽，从而使同步带轮固定器224和丝杆螺帽221保持在竖直平面内旋转运动，而止住左右平移运动。Further, a planar thrust bearing 234 is also arranged in the circular grooves of the motor support 232 and the encoder support 233 . The planar thrust bearing 234 is pressed into the corresponding round grooves of the motor support 232 and the encoder support 233 by way of interference fit, so that the timing pulley holder 224 and the screw nut 221 keep rotating in the vertical plane , and stop the left and right translational movement.
为了对齿轮等传动机构进行保护，还可以增设外壳251，外壳251与电机支座232和编码器支座233可拆卸连接。具体的，在电机支座232和编码器支座233上设置凸出小耳片，在外壳251上开设相配合的孔，螺栓穿过孔和小耳片与螺母连接，实现两者的装配。In order to protect transmission mechanisms such as gears, a housing 251 can also be added, and the housing 251 is detachably connected to the motor support 232 and the encoder support 233 . Specifically, protruding small lugs are provided on the motor support 232 and the encoder support 233, and matching holes are provided on the housing 251, and the bolts pass through the holes and the small lugs to connect with the nuts to realize the assembly of the two.
请参阅图10。See Figure 10.
本申请第二方面提供了一种电动赛车，包括如上述第一方面所提供的后轮转向驱动机构2、车架1和固定座。后轮转向驱动机构2的电机支座232和编码器支座233安装于固定座231上。固定座231与车架1固定连接。具体的，固定座231上有与车架1的管件相嵌合的槽，固定座231与车架1焊接。The second aspect of the present application provides an electric racing car, including the rear wheel steering drive mechanism 2, the vehicle frame 1 and the fixing seat as provided in the first aspect. The motor support 232 and the encoder support 233 of the rear wheel steering drive mechanism 2 are installed on the fixed base 231 . The fixing seat 231 is fixedly connected with the vehicle frame 1 . Specifically, the fixing seat 231 has a groove fitted with the pipe fitting of the vehicle frame 1 , and the fixing seat 231 is welded with the vehicle frame 1 .
在本申请实施例所提供的整个后轮转向驱动机构的装配过程中，先用两个平面推力轴承234分别压进对应的电机支座232和编码器支座233，进而用螺栓将固定块211分别装到电机支座232和编码器支座233上。将丝杆螺帽221装配到丝杆222上，用螺栓将大齿轮223和同步带轮固定器224固定到丝杆螺帽221上。将编码器237用螺栓通过编码器支座233三个通孔将编码器237固定，再用紧定螺丝将编码器同步带轮242固定到编码器237的输出轴上，同时也用紧定螺丝将丝杆同步带轮241固定到同步带轮固定器224中，而在电机支座232上，用四个螺栓固定伺服电机236到电机支座232上，在用紧定螺丝将小齿轮235沿侧边孔固定到伺服电机236输出轴上，将同步带243安装到丝杆同步带轮241和编码器同步带轮242上，此时将丝杆总成通过电机支座232和编码器支座233的对应孔，再将整体机构装到固定座231上，通过螺栓拧紧，此时将外壳251盖住驱动机构，再在电机支座232和编码器支座233前后用螺栓将外壳251固定，此时完成整个后轮转向驱动机构。In the assembly process of the entire rear wheel steering drive mechanism provided by the embodiment of the present application, two plane thrust bearings 234 are used to press into the corresponding motor support 232 and encoder support 233 respectively, and then the fixed block 211 is bolted Install on the motor support 232 and the encoder support 233 respectively. The screw nut 221 is assembled on the screw mandrel 222, and the large gear 223 and the synchronous pulley fixer 224 are fixed on the screw screw nut 221 with bolts. Fix the encoder 237 with bolts through the three through holes of the encoder support 233, and then fix the encoder synchronous pulley 242 to the output shaft of the encoder 237 with set screws. Fix the screw synchronous pulley 241 in the synchronous pulley fixer 224, and on the motor support 232, fix the servo motor 236 to the motor support 232 with four bolts, and use the set screw to fix the pinion 235 along the The side hole is fixed to the output shaft of the servo motor 236, and the timing belt 243 is installed on the screw timing pulley 241 and the encoder timing pulley 242. At this time, the screw assembly passes through the motor support 232 and the encoder support 233 corresponding holes, then install the overall mechanism on the fixed seat 231, and tighten the bolts. At this time, the casing 251 covers the drive mechanism, and then the casing 251 is fixed with bolts before and after the motor support 232 and the encoder support 233. Now complete the whole rear wheel steering drive mechanism.
最后应说明的是：以上各实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述各实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的范围。Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and are not intended to limit it; although the application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: It is still possible to modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the various embodiments of the present application. scope.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910511503.8ACN110077460B (en) | 2019-06-13 | 2019-06-13 | Rear wheel steering driving mechanism for electric racing car and electric racing car |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910511503.8ACN110077460B (en) | 2019-06-13 | 2019-06-13 | Rear wheel steering driving mechanism for electric racing car and electric racing car |
| Publication Number | Publication Date |
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| CN110077460Atrue CN110077460A (en) | 2019-08-02 |
| CN110077460B CN110077460B (en) | 2024-08-16 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910511503.8AActiveCN110077460B (en) | 2019-06-13 | 2019-06-13 | Rear wheel steering driving mechanism for electric racing car and electric racing car |
| Country | Link |
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| CN (1) | CN110077460B (en) |
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| CN110943580A (en)* | 2019-12-27 | 2020-03-31 | 佳木斯电机股份有限公司 | Encoder assembly |
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| CN111267942A (en)* | 2020-02-25 | 2020-06-12 | 广东工业大学 | An unmanned racing car steering clutch mechanism |
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