技术领域Technical Field
本申请涉及电动方程式赛车转向控制领域，具体涉及一种可自由切换的无人驾驶方程式赛车转向机构。The present application relates to the field of electric formula racing car steering control, and in particular to a freely switchable unmanned formula racing car steering mechanism.
背景技术Background technique
当今，智能控制与互联技术发展瞬息万变，无人驾驶在这种大环境下也应运而生。为了推进我国汽车行业人才发展，高校鼓励学生改装原有汽油赛车为电动赛车，研究无人驾驶技术，参加中国大学生电动方程式汽车大赛(FSEC)。应大赛要求，赛车应当在驾驶员可安全驾驶的基础上实现无人驾驶。而其中，转向系统线控化改装是尤为重要的部分。Nowadays, the development of intelligent control and interconnection technology is changing rapidly, and unmanned driving has also emerged in this environment. In order to promote the development of talents in my country's automotive industry, colleges and universities encourage students to convert the original gasoline racing cars into electric racing cars, study unmanned driving technology, and participate in the China Student Electric Formula Car Competition (FSEC). According to the requirements of the competition, the racing car should be unmanned on the basis that the driver can drive safely. Among them, the modification of the steering system to wire control is a particularly important part.
为了解决上述问题，张旭斌等人曾提出了“CN208069787U一种无人驾驶电动赛车线控化转向系统及其控制方法”的专利技术方案，该专利方案提出在转向横拉杆添加一根主动横拉杆，该主动横拉杆的齿条与电机输出轴上的齿轮啮合，电机转动带动齿轮齿条转动，拖动主动横拉杆左右滑动，主动横拉杆与转向横拉杆之间通过圆键连接同步做左右滑动。In order to solve the above problems, Zhang Xubin and others proposed a patented technical solution of "CN208069787U, a kind of unmanned electric racing car wire-controlled steering system and its control method". The patent solution proposes to add an active tie rod to the steering tie rod. The rack of the active tie rod is engaged with the gear on the motor output shaft. The rotation of the motor drives the gear rack to rotate, dragging the active tie rod to slide left and right. The active tie rod and the steering tie rod are connected by a circular key to slide left and right synchronously.
在实际应用过程中，发现该方案尚存在以下不足：In the actual application process, it was found that the solution still has the following shortcomings:
1)结构较为复杂，占用空间大；1) The structure is relatively complex and occupies a large space;
2)轴向摩擦较大，易导致转向响应不及时；2) Large axial friction may lead to untimely steering response;
3)有人无人转向切换时会干涉。3) Interference will occur when switching between manned and unmanned vehicles.
发明内容Summary of the invention
本申请的目的是提供一种可自由切换的无人驾驶方程式赛车转向机构，用以解决现有技术存在的结构复杂、轴向摩擦大、在进行有人无人转向切换时会产生干涉的问题。The purpose of the present application is to provide a freely switchable unmanned formula racing car steering mechanism to solve the problems of complex structure, large axial friction and interference when switching between manned and unmanned steering in the prior art.
为了实现上述任务，本申请采用以下技术方案：In order to achieve the above tasks, this application adopts the following technical solutions:
一种可自由切换的无人驾驶方程式赛车转向机构，包括用于向方程式赛车的转向轮传递转向动力的转向横拉杆，在方程式赛车的车架上固定有传动限位机构，所述转向横拉杆穿过传动限位机构；其中所述传动限位机构将方程式赛车方向盘传递来的转向动力通过传动副转化为所述转向横拉杆的轴向移动；A freely switchable unmanned formula car steering mechanism comprises a steering tie rod for transmitting steering power to a steering wheel of the formula car, a transmission limit mechanism is fixed on the frame of the formula car, and the steering tie rod passes through the transmission limit mechanism; wherein the transmission limit mechanism converts the steering power transmitted from the steering wheel of the formula car into axial movement of the steering tie rod through a transmission pair;
所述转向横拉杆上固定有滑块，所述车架上通过固定架安装有转向电机与电磁离合器，其中，电磁离合器的输入端连接转向电机的转轴，电磁离合器的输出端上连接有曲柄，所述滑块上活动式设置有连杆，曲柄、连杆的端部活动式连接，通过电磁离合器、传动限位机构、曲柄、连杆以及滑块的配合，将通过转向电机传递来的转向动力转化为转向横拉杆的轴向移动。A slider is fixed on the steering tie rod, and a steering motor and an electromagnetic clutch are installed on the frame through a fixing frame, wherein the input end of the electromagnetic clutch is connected to the rotating shaft of the steering motor, and the output end of the electromagnetic clutch is connected to a crank, and a connecting rod is movably arranged on the slider, and the ends of the crank and the connecting rod are movably connected, and the steering power transmitted by the steering motor is converted into axial movement of the steering tie rod through the cooperation of the electromagnetic clutch, the transmission limiting mechanism, the crank, the connecting rod and the slider.
进一步地，所述传动限位机构包括一个限位滑套，限位滑套上贯穿开设有滑孔，所述转向横拉杆穿过滑孔；Furthermore, the transmission limiting mechanism comprises a limiting sliding sleeve, a sliding hole is formed through the limiting sliding sleeve, and the steering tie rod passes through the sliding hole;
所述传动副包括设置在限位滑套10内部的、用于传递旋转动力的齿轮，所述转向横拉杆上设置有与所述齿轮配合的齿条。The transmission pair includes a gear disposed inside the limiting sliding sleeve 10 for transmitting rotational power, and a rack matched with the gear is disposed on the steering tie rod.
进一步地，所述转向机构还包括转向杆，转向杆的上端通过第一万向节与方程式赛车的方向盘连接以获取转向动力，转向杆的下端通过第二万向节连接一根传动杆，传动杆的下端穿入所述传动限位机构中与所述齿轮连接。Furthermore, the steering mechanism also includes a steering rod, the upper end of which is connected to the steering wheel of the formula car through a first universal joint to obtain steering power, and the lower end of the steering rod is connected to a transmission rod through a second universal joint, and the lower end of the transmission rod penetrates into the transmission limiting mechanism and is connected to the gear.
进一步地，所述传动限位机构还包括位于限位滑套上方的上固定板以及下方的下固定板，通过上固定板、下固定板将所述限位滑套固定在车架上。Furthermore, the transmission limiting mechanism also includes an upper fixing plate located above the limiting sliding sleeve and a lower fixing plate located below the limiting sliding sleeve, and the limiting sliding sleeve is fixed to the frame through the upper fixing plate and the lower fixing plate.
进一步地，所述方程式赛车上位于方向盘一侧设置有一键切换按钮，一键切换按钮用于切换电磁离合器的工作模式，从而使方程式赛车工作在自动驾驶模式或者人工驾驶模式；其中，自动驾驶模式通过转向电机提供转向动力，人工驾驶模式通过方向盘提供转向动力。Furthermore, a one-touch switch button is provided on one side of the steering wheel of the formula car, and the one-touch switch button is used to switch the working mode of the electromagnetic clutch, so that the formula car works in the automatic driving mode or the manual driving mode; wherein, the automatic driving mode provides steering power through the steering motor, and the manual driving mode provides steering power through the steering wheel.
进一步地，当方程式赛车处于自动驾驶模式时，所述电磁离合器接合，通过设置在方程式赛车前方的探测器探测方程式赛车前方的障碍物信号，将障碍物信号传递给处理器分析并输出转向信号至所述转向电机，转向电机根据转向信号转动相应角度，通过所述曲柄、连杆以及传动限位机构的配合将转向电机的旋转转化为转向横拉杆的轴向移动，从而控制方程式赛车的驱动轮转向。Furthermore, when the formula car is in the automatic driving mode, the electromagnetic clutch is engaged, and the obstacle signal in front of the formula car is detected by the detector arranged in front of the formula car, and the obstacle signal is transmitted to the processor for analysis and outputs the steering signal to the steering motor. The steering motor rotates the corresponding angle according to the steering signal, and the rotation of the steering motor is converted into the axial movement of the steering tie rod through the cooperation of the crank, the connecting rod and the transmission limit mechanism, thereby controlling the steering of the driving wheels of the formula car.
进一步地，当方程式赛车处于人工驾驶模式时，所述电磁离合器脱开，方向盘提供的转向动力依次通过第一万向节、转向杆、第二万向节、传动杆传递给齿轮，齿轮旋转时，通过齿条配合带动所述转向横拉杆轴向移动。Furthermore, when the formula car is in manual driving mode, the electromagnetic clutch is disengaged, and the steering power provided by the steering wheel is transmitted to the gear through the first universal joint, the steering rod, the second universal joint, and the transmission rod in sequence. When the gear rotates, the steering tie rod is driven to move axially through the rack.
本申请具有以下技术特点：This application has the following technical features:
1.转向机构简单：仅用曲柄滑块机构配合电机转动即可实现转向。1. The steering mechanism is simple: steering can be achieved by only using the crank slider mechanism in conjunction with the rotation of the motor.
2.占用空间小：底座与赛车底盘平行，电机与底座垂直，且电机与车架固定，布置方式节省驾驶空间还可实现赛车的轻量化。2. Small space occupation: The base is parallel to the chassis of the racing car, the motor is perpendicular to the base, and the motor is fixed to the frame. The layout saves driving space and can also make the racing car lightweight.
3.转向响应快：在赛车运动中，赛车的转向响应时间尤为重要。电机通过曲柄滑块机构与横拉杆直接相连，可快速响应控制器给定的转角。3. Fast steering response: In racing, the steering response time of the car is particularly important. The motor is directly connected to the tie rod through a crank slider mechanism, which can quickly respond to the steering angle given by the controller.
4.模式切换自由：在曲柄与电机之间添加电磁离合器，控制电磁离合器的通断电状态即可实现人工驾驶与无人驾驶模式的自由切换。4. Free mode switching: Add an electromagnetic clutch between the crank and the motor, and control the on and off state of the electromagnetic clutch to achieve free switching between manual driving and unmanned driving modes.
5.转向精度高：电机旋转带动曲柄滑块机构转动，只要控制电机正反转转过的角度，便可对转动角度的精确控制。5. High steering accuracy: The rotation of the motor drives the crank slider mechanism to rotate. As long as the angle of the motor's forward and reverse rotation is controlled, the rotation angle can be accurately controlled.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
图1为本申请的整体结构示意图；FIG1 is a schematic diagram of the overall structure of the present application;
图2为本申请的俯视结构示意图；FIG2 is a schematic diagram of the top view of the structure of the present application;
图3为传动限位机构部分的结构示意图；FIG3 is a schematic diagram of the structure of the transmission limit mechanism;
图4为传动限位机构中传动副部分的结构示意图；FIG4 is a schematic structural diagram of a transmission pair portion in a transmission limit mechanism;
图5为本申请的侧面结构示意图；FIG5 is a schematic diagram of the side structure of the present application;
图6为转向电机的控制电路图。Figure 6 is a control circuit diagram of the steering motor.
图中标号说明：1转向电机，2传动限位机构，3定位销，4连杆，5滑块，6定位螺钉，7曲柄，8电磁离合器，9转向横拉杆，10限位滑套，11第二万向节，12转向杆，13固定架，14齿条，15齿轮，16传动杆，17上固定板，18下固定板，19滑孔，20第一万向节。Explanation of the numbers in the figure: 1 steering motor, 2 transmission limit mechanism, 3 positioning pin, 4 connecting rod, 5 slider, 6 positioning screw, 7 crank, 8 electromagnetic clutch, 9 steering tie rod, 10 limiting sliding sleeve, 11 second universal joint, 12 steering rod, 13 fixing frame, 14 rack, 15 gear, 16 transmission rod, 17 upper fixing plate, 18 lower fixing plate, 19 sliding hole, 20 first universal joint.
具体实施方式Detailed ways
如附图所示，本申请提供了一种可自由切换的无人驾驶方程式赛车转向机构，该转向结构可实现人工驾驶、无人驾驶两种模式的切换，并且结构简单、轴向摩擦小且切换时不会产生干涉。具体结构如下：As shown in the attached drawings, the present application provides a freely switchable unmanned driving formula racing car steering mechanism, which can realize the switching between manual driving and unmanned driving modes, and has a simple structure, low axial friction and no interference during switching. The specific structure is as follows:
所述转向机构包括用于向方程式赛车的转向轮传递转向动力的转向横拉杆9，如图1所示，本申请中的转向横拉杆9，用于提供转向动力给赛车的转向轮，使转向轮根据转向动力进行转动。转向横拉杆9进行转向动力的传递方式为轴向移动，例如其向左移动时，控制转向轮向左旋转，而向右移动时则控制转向轮向右旋转。具体应用时，转向横拉杆9的端部通过赛车前部的悬挂系统连接转向轮，将转向横拉杆9的轴向移动转换为驱动轮的转向。The steering mechanism includes a steering tie rod 9 for transmitting steering power to the steering wheel of the formula car. As shown in FIG1 , the steering tie rod 9 in the present application is used to provide steering power to the steering wheel of the car so that the steering wheel rotates according to the steering power. The steering tie rod 9 transmits the steering power in an axial manner. For example, when it moves to the left, it controls the steering wheel to rotate to the left, and when it moves to the right, it controls the steering wheel to rotate to the right. In specific applications, the end of the steering tie rod 9 is connected to the steering wheel through the suspension system at the front of the car, and the axial movement of the steering tie rod 9 is converted into the steering of the drive wheel.
在方程式赛车的车架上固定有传动限位机构2，所述转向横拉杆9穿过传动限位机构2；其中所述传动限位机构2将方程式赛车方向盘传递来的转向动力通过传动副转化为所述转向横拉杆9的轴向移动。如图1至图5所示，本申请中，传动限位机构2具有多重作用，并且可以和两种驾驶模式均进行对应配合。传动限位机构2固定在赛车的车架上，其一个重要作用是将方向盘提供转向动力传递给转向横拉杆9。A transmission limit mechanism 2 is fixed on the frame of the formula car, and the steering tie rod 9 passes through the transmission limit mechanism 2; wherein the transmission limit mechanism 2 converts the steering power transmitted from the steering wheel of the formula car into the axial movement of the steering tie rod 9 through the transmission pair. As shown in Figures 1 to 5, in this application, the transmission limit mechanism 2 has multiple functions and can be matched with both driving modes. The transmission limit mechanism 2 is fixed on the frame of the racing car, and one of its important functions is to transmit the steering power provided by the steering wheel to the steering tie rod 9.
具体地，所述传动限位机构2包括一个限位滑套10，限位滑套10上贯穿开设有滑孔19，所述转向横拉杆9穿过滑孔19；所述传动副包括设置在限位滑套10内部的、用于传递旋转动力的齿轮15，所述转向横拉杆9上设置有与所述齿轮15配合的齿条14。转向机构还包括转向杆12，转向杆12的上端通过第一万向节20与方程式赛车的方向盘连接以获取转向动力，转向杆12的下端通过第二万向节11连接一根传动杆16，传动杆16的下端穿入所述传动限位机构2中与所述齿轮15连接。Specifically, the transmission limit mechanism 2 includes a limit sleeve 10, a slide hole 19 is formed on the limit sleeve 10, and the steering tie rod 9 passes through the slide hole 19; the transmission pair includes a gear 15 arranged inside the limit sleeve 10 for transmitting rotational power, and the steering tie rod 9 is provided with a rack 14 matched with the gear 15. The steering mechanism also includes a steering rod 12, the upper end of which is connected to the steering wheel of the formula car through a first universal joint 20 to obtain steering power, and the lower end of the steering rod 12 is connected to a transmission rod 16 through a second universal joint 11, and the lower end of the transmission rod 16 penetrates into the transmission limit mechanism 2 and is connected to the gear 15.
如图3、图4所示，当在人工驾驶模式下时，驾驶员通过旋转方向盘提供转向动力，并最终通过传动杆16传递给齿轮15。在传动杆16与传动限位机构2之间设置有轴承，使齿轮15只能在固定的位置旋转。齿轮15旋转过程中，通过与齿条14的配合，将旋转动力转化为齿条14的轴向移动，从而通过齿条14带动转向横拉杆9轴向移动。As shown in FIG3 and FIG4, in the manual driving mode, the driver provides steering power by rotating the steering wheel, and finally transmits it to the gear 15 through the transmission rod 16. A bearing is arranged between the transmission rod 16 and the transmission limit mechanism 2, so that the gear 15 can only rotate at a fixed position. During the rotation of the gear 15, the rotation power is converted into the axial movement of the rack 14 through the cooperation with the rack 14, thereby driving the steering tie rod 9 to move axially through the rack 14.
为了使操控过程稳定可靠，所述传动限位机构2还包括位于限位滑套10上方的上固定板17以及下方的下固定板18，通过上固定板17、下固定板18将所述限位滑套10固定在车架上，以实现对传动限位机构2的有效固定。In order to make the control process stable and reliable, the transmission limiting mechanism 2 also includes an upper fixing plate 17 located above the limiting sleeve 10 and a lower fixing plate 18 located below the limiting sleeve 10. The limiting sleeve 10 is fixed to the frame through the upper fixing plate 17 and the lower fixing plate 18 to achieve effective fixation of the transmission limiting mechanism 2.
作为本申请的另外一种转向方式，所述转向横拉杆9上固定有滑块5，所述车架上通过固定架13安装有转向电机1与电磁离合器8，其中，电磁离合器8的输入端连接转向电机1的转轴，电磁离合器8的输出端上连接有曲柄7，所述滑块5上活动式设置有连杆4，曲柄7、连杆4的端部活动式连接，通过电磁离合器8、传动限位机构2、曲柄7、连杆4以及滑块5的配合，将通过转向电机1传递来的转向动力转化为转向横拉杆9的轴向移动。As another steering method of the present application, a slider 5 is fixed on the steering tie rod 9, and a steering motor 1 and an electromagnetic clutch 8 are installed on the frame through a fixing frame 13, wherein the input end of the electromagnetic clutch 8 is connected to the rotating shaft of the steering motor 1, and the output end of the electromagnetic clutch 8 is connected to the crank 7, and a connecting rod 4 is movably arranged on the slider 5, and the ends of the crank 7 and the connecting rod 4 are movably connected, and the steering power transmitted by the steering motor 1 is converted into axial movement of the steering tie rod 9 through the cooperation of the electromagnetic clutch 8, the transmission limiting mechanism 2, the crank 7, the connecting rod 4 and the slider 5.
本申请中，转向电机1外部套有固定架13，固定架13将转向电机1稳定地安装在车架上。转向电机1在工作时，接收到转向信号，其转轴进行相应旋转，此时电磁离合器8处于接合状态，旋转动力通过电磁离合器8提供给曲柄7连杆4。电磁离合器8的外壳上设置有固定孔，通过固定螺母将其固定在电机的固定架13上，实现二者的固定安装。In the present application, the steering motor 1 is covered with a fixing frame 13 on the outside, and the fixing frame 13 stably mounts the steering motor 1 on the vehicle frame. When the steering motor 1 is working, it receives a steering signal, and its shaft rotates accordingly. At this time, the electromagnetic clutch 8 is in an engaged state, and the rotational power is provided to the crank 7 connecting rod 4 through the electromagnetic clutch 8. The outer shell of the electromagnetic clutch 8 is provided with a fixing hole, and it is fixed to the fixing frame 13 of the motor by a fixing nut to achieve fixed installation of the two.
电磁离合器8的输出端上通过花键连接有曲柄7，曲柄7的端部、连杆4的端部均有定位孔，曲柄7、连杆4端部通过定位孔、定位销3实现活动式连接，连杆4端部通过定位孔、定位销3与滑块5连接。滑块5上开设有通孔，通过通孔套设在转向横拉杆9上，并利用定位螺钉6将滑块5与转向横拉杆9锁紧。当曲柄7带动连杆4运动时，带动滑块5移动，滑块5固定在转向横拉杆9上，由于所述传动限位机构2中滑孔19的限制，使得转向横拉杆9只能做轴向移动，滑孔19对其径向移动进行了限制，由此实现通过电磁离合器8、传动限位机构2、曲柄7、连杆4以及滑块5的配合，将通过转向电机1传递来的转向动力转化为转向横拉杆9的轴向移动。The output end of the electromagnetic clutch 8 is connected with a crank 7 through a spline. The ends of the crank 7 and the connecting rod 4 are provided with positioning holes. The crank 7 and the ends of the connecting rod 4 are movably connected through the positioning holes and the positioning pins 3. The ends of the connecting rod 4 are connected with the slider 5 through the positioning holes and the positioning pins 3. The slider 5 is provided with a through hole, which is sleeved on the steering tie rod 9 through the through hole, and the slider 5 is locked with the steering tie rod 9 by the positioning screw 6. When the crank 7 drives the connecting rod 4 to move, the slider 5 is driven to move, and the slider 5 is fixed on the steering tie rod 9. Due to the limitation of the sliding hole 19 in the transmission limit mechanism 2, the steering tie rod 9 can only move axially, and the sliding hole 19 limits its radial movement, thereby realizing the conversion of the steering power transmitted by the steering motor 1 into the axial movement of the steering tie rod 9 through the cooperation of the electromagnetic clutch 8, the transmission limit mechanism 2, the crank 7, the connecting rod 4 and the slider 5.
下面对本申请的两种工作模式作进一步说明。The two working modes of this application are further explained below.
所述方程式赛车上位于方向盘一侧设置有一键切换按钮，一键切换按钮用于切换电磁离合器8的工作模式，从而使方程式赛车工作在自动驾驶模式或者人工驾驶模式；其中，自动驾驶模式通过转向电机提供转向动力，人工驾驶模式通过方向盘提供转向动力。驾驶员可根据实际路况和需求，选择是否通过一键切换按钮进行切换，一键切换按钮用来控制电磁离合器8是接合状态还是脱开状态，从而可决定是否将转向电机1接入，由此来控制两种模式的切换。The formula car is provided with a one-touch switch button on one side of the steering wheel, and the one-touch switch button is used to switch the working mode of the electromagnetic clutch 8, so that the formula car works in the automatic driving mode or the manual driving mode; wherein the automatic driving mode provides steering power through the steering motor, and the manual driving mode provides steering power through the steering wheel. The driver can choose whether to switch through the one-touch switch button according to the actual road conditions and needs, and the one-touch switch button is used to control whether the electromagnetic clutch 8 is in the engaged state or the disengaged state, so as to determine whether to connect the steering motor 1, thereby controlling the switching of the two modes.
当按下一键切换按钮后，给电磁离合器8发送接合信号，所述电磁离合器8接合，方程式赛车处于自动驾驶模式。方程式赛车前方安装有多种探测器，例如超声波传感器、红外传感器等，用来探测前方障碍物信号。将障碍物信号传递给处理器分析，当处理器判定前方有障碍物时，输出转向信号至所述转向电机1，转向电机1根据转向信号转动相应角度，通过所述曲柄7、连杆4以及传动限位机构2的配合将转向电机1的旋转转化为转向横拉杆9的轴向移动，从而控制方程式赛车的驱动轮转向。When the one-touch switch button is pressed, an engagement signal is sent to the electromagnetic clutch 8, the electromagnetic clutch 8 is engaged, and the formula car is in automatic driving mode. A variety of detectors are installed in front of the formula car, such as ultrasonic sensors, infrared sensors, etc., to detect obstacle signals in front. The obstacle signal is transmitted to the processor for analysis. When the processor determines that there is an obstacle in front, a steering signal is output to the steering motor 1. The steering motor 1 rotates the corresponding angle according to the steering signal. Through the cooperation of the crank 7, the connecting rod 4 and the transmission limit mechanism 2, the rotation of the steering motor 1 is converted into the axial movement of the steering tie rod 9, thereby controlling the steering of the driving wheels of the formula car.
具体地，转向电机1正反转是通过三相异步电机正反转电路来实现的，只要把电动机的三相电源进线中的任意两相对调，就可以改变电动机的转向，其电路图如图6所示。其中KM1、KM2为交流接触器主触头，假设KM1吸合、KM2断开实现电机正转；断开KM1、吸合KM2即实现电机反转。FU1起短路保护作用。Specifically, the forward and reverse rotation of the steering motor 1 is realized by the forward and reverse rotation circuit of the three-phase asynchronous motor. As long as any two phases of the three-phase power supply line of the motor are switched, the direction of the motor can be changed. The circuit diagram is shown in Figure 6. KM1 and KM2 are the main contacts of the AC contactor. If KM1 is closed and KM2 is disconnected, the motor can rotate forward; if KM1 is disconnected and KM2 is closed, the motor can rotate reversely. FU1 plays a short-circuit protection role.
当再次按下一键切换按钮后，给电磁离合器8发送脱开信号，电磁离合器8脱开，切换至人工驾驶模式，此时即便转向电机1的转轴旋转，由于电磁离合器8已经脱开，其输入端至输出端之间不能继续传递动力，因此实现了对动力源，即转向电机1与转向机构相对脱开。当方程式赛车处于人工驾驶模式时，方向盘提供的转向动力依次通过第一万向节20、转向杆12、第二万向节11、传动杆16传递给齿轮15，齿轮15旋转时，通过齿条14配合带动所述转向横拉杆9轴向移动，这样驾驶员就可以通过方向盘来控制赛车的转向，进行手动驾驶，而不受到转向电机1的影响。When the one-touch switch button is pressed again, a disengagement signal is sent to the electromagnetic clutch 8, and the electromagnetic clutch 8 is disengaged, switching to the manual driving mode. At this time, even if the shaft of the steering motor 1 rotates, since the electromagnetic clutch 8 has been disengaged, the power cannot be further transmitted between its input end and output end, thereby realizing the relative disengagement of the power source, that is, the steering motor 1 and the steering mechanism. When the formula car is in the manual driving mode, the steering power provided by the steering wheel is transmitted to the gear 15 through the first universal joint 20, the steering rod 12, the second universal joint 11, and the transmission rod 16 in sequence. When the gear 15 rotates, it drives the steering tie rod 9 to move axially through the rack 14, so that the driver can control the steering of the car through the steering wheel and perform manual driving without being affected by the steering motor 1.
本申请的技术方案中，设计的传动限位机构2以及引入的转向电机1、曲柄7连杆4机构等，可靠性高，动力传递效率高，相比于现有技术的复杂结构，本申请的结构相对简单，安装改造方便，能有效节省空间。In the technical solution of the present application, the designed transmission limit mechanism 2 and the introduced steering motor 1, crank 7 connecting rod 4 mechanism, etc. have high reliability and high power transmission efficiency. Compared with the complex structure of the prior art, the structure of the present application is relatively simple, easy to install and modify, and can effectively save space.
本申请的技术方案中，转向横拉杆9与传动限位机构2之间通过限位滑套10连接，限位滑套10的滑孔19中有齿轮15、齿条14构成的传动副，传动副在进行动力传递时，轴向摩擦相对较小，传递动力的损失小，因而转向精确。In the technical solution of the present application, the steering tie rod 9 is connected to the transmission limit mechanism 2 via a limit sleeve 10. The sliding hole 19 of the limit sleeve 10 contains a transmission pair consisting of a gear 15 and a rack 14. When the transmission pair transmits power, the axial friction is relatively small, and the loss of transmitted power is small, so the steering is precise.
本申请的技术方案中，由于设计了电磁离合器8结构，在人工驾驶模式下，电磁离合器8脱开后，其不能继续传递动力，故转向电机1的转向动力不能通过电磁离合器8提供给曲柄7连杆4，从而实现人工驾驶、无人驾驶模式相互不会出现动力干涉的情况，能进行两种模式的自由切换。In the technical solution of the present application, due to the design of the electromagnetic clutch 8 structure, in the manual driving mode, after the electromagnetic clutch 8 is disengaged, it cannot continue to transmit power, so the steering power of the steering motor 1 cannot be provided to the crank 7 connecting rod 4 through the electromagnetic clutch 8, thereby achieving a situation where there is no power interference between the manual driving and unmanned driving modes, and the two modes can be switched freely.
以上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精神和范围，均应包含在本申请的保护范围之内。The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911336920.XACN110979450B (en) | 2019-12-23 | 2019-12-23 | Steering mechanism of formula car capable of being freely switched |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911336920.XACN110979450B (en) | 2019-12-23 | 2019-12-23 | Steering mechanism of formula car capable of being freely switched |
| Publication Number | Publication Date |
|---|---|
| CN110979450A CN110979450A (en) | 2020-04-10 |
| CN110979450Btrue CN110979450B (en) | 2024-07-05 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911336920.XAActiveCN110979450B (en) | 2019-12-23 | 2019-12-23 | Steering mechanism of formula car capable of being freely switched |
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| CN (1) | CN110979450B (en) |
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