阅读说明：本技术 一种适应有人和无人驾驶双模式的赛车转向机构 (Racing car steering mechanism suitable for manned and unmanned driving modes ) 是由 阳林 陈日东 杨润彬 章培坚 刘高辉 于 2021-02-26 设计创作，主要内容包括：本发明公开了一种适应有人和无人驾驶双模式的赛车转向机构,包括方向盘、第一转轴、第二转轴、太阳轮、行星齿轮、蜗轮、蜗杆、电机、行星架、第三转轴、第四转轴、输出齿轮和转向横拉杆；方向盘通过第一转轴与第二转轴连接,第二转轴与太阳轮连接；蜗轮内壁设有轮齿,行星齿轮与轮齿啮合,太阳轮与多个行星齿轮同时啮合；行星架与行星齿轮连接,行星架与第三转轴连接,第三转轴通过转向万向节与第四转轴连接,第四转轴与输出齿轮连接,输出齿轮与转向横拉杆上的齿条啮合；电机与蜗杆固定连接,蜗杆与蜗轮传动连接；蜗杆的螺旋角小于齿轮间的当量摩擦角。本发明无需采用动力分离装置,简化了转向机构,减小了占用空间,有利于赛车的轻量化设计。(The invention discloses a racing car steering mechanism suitable for a manned and unmanned driving double mode, which comprises a steering wheel, a first rotating shaft, a second rotating shaft, a sun wheel, a planetary gear, a worm, a motor, a planet carrier, a third rotating shaft, a fourth rotating shaft, an output gear and a steering tie rod, wherein the first rotating shaft is connected with the second rotating shaft through the sun wheel; the steering wheel is connected with a second rotating shaft through a first rotating shaft, and the second rotating shaft is connected with the sun gear; gear teeth are arranged on the inner wall of the worm gear, the planetary gears are meshed with the gear teeth, and the sun gear is meshed with the plurality of planetary gears simultaneously; the planet carrier is connected with the planet gear, the planet carrier is connected with a third rotating shaft, the third rotating shaft is connected with a fourth rotating shaft through a steering universal joint, the fourth rotating shaft is connected with an output gear, and the output gear is meshed with a rack on a steering tie rod; the motor is fixedly connected with the worm, and the worm is in transmission connection with the worm wheel; the helix angle of the worm is less than the equivalent friction angle between the gears. The invention does not need to adopt a power separation device, simplifies a steering mechanism, reduces the occupied space and is beneficial to the light weight design of the racing car.)

1. A racing car steering mechanism suitable for a manned mode and an unmanned mode is characterized by comprising a steering wheel, a first rotating shaft, a second rotating shaft, a sun wheel, a planetary gear, a worm wheel, a worm, a motor, a planet carrier, a third rotating shaft, a fourth rotating shaft, an output gear and a steering tie rod; the center of the steering wheel is fixedly connected with one end of a first rotating shaft, the other end of the first rotating shaft is fixedly connected with one end of a second rotating shaft through a steering universal joint, and the other end of the second rotating shaft is fixedly connected with the center of the sun wheel; gear teeth are arranged on the inner wall of the worm gear, a plurality of planet gears are arranged and meshed with the gear teeth, and the sun gear is meshed with the plurality of planet gears simultaneously; one end of the planet carrier is fixedly connected with the planet gear, the other end of the planet carrier is fixedly connected with one end of the third rotating shaft, the other end of the third rotating shaft is fixedly connected with one end of the fourth rotating shaft through the steering universal joint, the other end of the fourth rotating shaft is fixedly connected with the center of the output gear, and the output gear is meshed with the rack on the steering tie rod; an output shaft of the motor is fixedly connected with a worm, and the worm is in transmission connection with a worm wheel; the helix angle of the worm is smaller than the equivalent friction angle between the gears.

2. The dual mode racing steering mechanism of claim 1, wherein the plurality of planet gears are uniformly distributed on the teeth on the inner wall of the worm gear, and the central axis of the sun gear coincides with the central axis of the worm gear.

3. The dual mode racing steering mechanism of claim 1, wherein the motor is connected to an output of the controller, and the controller controls the operating state of the motor.

4. A racing steering mechanism accommodating both manned and unmanned modes, as claimed in claim 1 or 2, wherein the number of the planetary gears is three and the angle between two adjacent planetary gears is 120 °.

5. A dual mode race car steering mechanism accommodating both manned and unmanned modes according to claim 1 or 3, wherein the motor is a stepper motor or a servo motor.

6. The dual mode race car steering mechanism for accommodating manned and unmanned modes of operation of claim 3, wherein said controller is an ECU.

Technical Field

The invention belongs to a racing car steering mechanism, and particularly relates to a racing car steering mechanism suitable for a manned mode and an unmanned mode.

Background

In order to respond to the development demand of the China automobile industry, college students' unmanned formula college (FSAC) born by China automotive engineering encourages college students to study unmanned technology, and sensing equipment and a control device are added on the basis of the original electric racing car to realize autonomous driving of the racing car. Among them, the wire control improvement of the racing car steering system is an extremely important key technology.

The FSAC tournament rules require that the unmanned racing vehicles must have both manned and unmanned steering modes and enable safe, convenient mode conversion to complete different events. The patent number 'CN 208069787U' discloses a wire-controlled steering system of an unmanned electric racing car and a control method thereof, a racing car steering mechanism adopted in the patent adopts a first steering gear rack assembly and a second steering gear rack assembly which are separately arranged, and the first rack and the second rack are connected by a round key; when the vehicle is unmanned, the motor drives the first steering gear to drive the first rack, and then the first rack drives the second rack assembly through the round key to output steering action. When a person drives, the second steering gear and the second rack assembly are directly driven through the steering wheel, and then steering action is finished. But this steering mechanism's structure is complicated, and occupation space is big, arranges the degree of difficulty greatly to the time lag nature of mechanism transmission is longer, and the steering wheel can drive first rack and make the motor reversal when someone drives, increases and turns to the resistance, turns to hard and leads to manual driving's steering security low.

Disclosure of Invention

The invention aims to solve the problems and provides a racing car steering mechanism which is simple in structure, small in steering resistance, flexible in switching and stable in transmission and is suitable for both manned and unmanned modes. This structure need not to adopt power separator when switching driving mode, has simplified steering mechanism, has reduced the space that occupies, is favorable to the lightweight design of cycle racing.

The purpose of the invention can be achieved by adopting the following technical scheme:

a racing car steering mechanism suitable for a manned mode and an unmanned mode comprises a steering wheel, a first rotating shaft, a second rotating shaft, a sun wheel, a planetary gear, a worm wheel, a worm, a motor, a planet carrier, a third rotating shaft, a fourth rotating shaft, an output gear and a steering tie rod; the center of the steering wheel is fixedly connected with one end of a first rotating shaft, the other end of the first rotating shaft is fixedly connected with one end of a second rotating shaft through a steering universal joint, and the other end of the second rotating shaft is fixedly connected with the center of the sun wheel; gear teeth are arranged on the inner wall of the worm gear, a plurality of planet gears are arranged and meshed with the gear teeth, and the sun gear is meshed with the plurality of planet gears simultaneously; one end of the planet carrier is fixedly connected with the planet gear, the other end of the planet carrier is fixedly connected with one end of the third rotating shaft, the other end of the third rotating shaft is fixedly connected with one end of the fourth rotating shaft through the steering universal joint, the other end of the fourth rotating shaft is fixedly connected with the center of the output gear, and the output gear is meshed with the rack on the steering tie rod; an output shaft of the motor is fixedly connected with a worm, and the worm is in transmission connection with a worm wheel; the helix angle of the worm is smaller than the equivalent friction angle between the gears. When the steering wheel drives the steering tie rod to slide through the first rotating shaft, the steering universal joint, the second rotating shaft, the sun gear, the planetary gear, the planet carrier, the third rotating shaft, the steering universal joint, the fourth rotating shaft and the output gear in sequence; when the automobile is driven automatically, the motor controls the steering and rotating speed of the worm to sequentially drive the worm, the worm wheel, the planetary gear, the planet carrier, the third rotating shaft, the steering universal joint, the fourth rotating shaft and the output gear to drive the steering tie rod to slide.

As a preferable scheme, a plurality of the planet gears are uniformly distributed on the gear teeth on the inner wall of the worm gear, and the central axis of the sun gear is coincident with the central axis of the worm gear.

Preferably, the motor is connected with an output end of the controller, and the working state of the motor is controlled by the controller.

Preferably, the number of the planetary gears is three, and the included angle between two adjacent planetary gears is 120 degrees.

Preferably, the motor is a stepping motor or a servo motor.

Preferably, the controller is an ECU.

The implementation of the invention has the following beneficial effects:

when the steering wheel is driven manually, the steering wheel drives the steering tie rod to slide through the first rotating shaft, the steering universal joint, the second rotating shaft, the sun gear, the planetary gear, the planet carrier, the third rotating shaft, the steering universal joint, the fourth rotating shaft and the output gear in sequence; when the automobile is driven automatically, the motor controls the steering and rotating speed of the worm to sequentially drive the worm, the worm wheel, the planetary gear, the planet carrier, the third rotating shaft, the steering universal joint, the fourth rotating shaft and the output gear to drive the steering tie rod to slide. The structure enables the gear teeth on the inner wall of the worm wheel to be meshed with the planetary gear, so that the worm wheel and the worm are skillfully connected with the planetary gear mechanism. When the racing car is in operation, the self-locking performance of the worm gear mechanism is utilized to realize the flexible switching between the manual steering and the autonomous steering of the racing car, so that the steering resistance is smaller and the labor is saved during manual driving. When the driving mode is switched, the power separation device is not needed, the steering mechanism is simplified, the occupied space is reduced, and the light-weight design of the racing car is facilitated.

Drawings

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

FIG. 1 is a schematic structural diagram of a racing car steering mechanism of the present invention adapted for both manned and unmanned modes.

Fig. 2 is a left side view of fig. 1.

Fig. 3 is a top view of fig. 1.

Fig. 4 is a perspective view of fig. 1.

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.

Examples

Referring to fig. 1 to 4, the present embodiment relates to a racing car steering mechanism adapted to manned and unmanned driving modes, comprising a steering wheel 1, a first rotating shaft 2, a second rotating shaft 3, a sun gear 4, a planetary gear 5, a worm wheel 6, a worm 7, a motor 8, a planet carrier 9, a third rotating shaft 10, a fourth rotating shaft 11, an output gear 12 and a tie rod 13; the center of the steering wheel 1 is fixedly connected with one end of a first rotating shaft 2, the other end of the first rotating shaft 2 is fixedly connected with one end of a second rotating shaft 3 through a steering universal joint 14, and the other end of the second rotating shaft 3 is fixedly connected with the center of a sun gear 4; gear teeth 61 are arranged on the inner wall of the worm wheel 6, a plurality of planet gears 5 are arranged and meshed with the gear teeth 61, and the sun gear 4 is meshed with the planet gears 5 simultaneously; one end of the planet carrier 9 is fixedly connected with the planet gear 5, the other end of the planet carrier 9 is fixedly connected with one end of a third rotating shaft 10, the other end of the third rotating shaft 10 is fixedly connected with one end of a fourth rotating shaft 11 through a steering universal joint 14, the other end of the fourth rotating shaft 11 is fixedly connected with the center of an output gear 12, and the output gear 12 is meshed with a rack 10 on a tie rod 13; an output shaft of the motor 8 is fixedly connected with a worm 7, and the worm 7 is in transmission connection with a worm wheel 6; the helix angle of the worm 7 is smaller than the equivalent friction angle between the gears, that is, the worm 7 can drive the worm wheel 6 to rotate, but the worm wheel 6 cannot drive the worm 7 to rotate, that is, when the motor 8 does not work and the worm 7 does not rotate, the worm wheel 6 is applied with fixed constraint and is in a locked state. The sun gear 4 can be driven by the steering wheel 1, so that the planet gears and the planet carrier 9 are driven to rotate to output steering action downwards. In the automatic driving mode, the motor 8 is started to work, the rotation direction and the speed of the worm 7 are controlled through the motor 8, so that the worm wheel 6 and the planetary gear 5 are driven to rotate, and the planet carrier 9 is driven to rotate to output a steering action downwards.

Specifically, during manual driving, the steering wheel 1 drives a tie rod 13 to slide through a first rotating shaft 2, a steering universal joint 14, a second rotating shaft 3, a sun gear 4, a planetary gear 5, a planet carrier 9, a third rotating shaft 10, a steering universal joint 14, a fourth rotating shaft 11 and an output gear 12 in sequence; during automatic driving, the motor 8 controls the steering direction and the rotation speed of the worm 7 to sequentially drive the worm 7, the worm wheel 6, the planetary gear 5, the planet carrier 9, the third rotating shaft 10, the steering universal joint 14, the fourth rotating shaft 11 and the output gear 12 to drive the tie rod 13 to slide. The structure enables the worm gear 7 and the planetary gear 5 to be skillfully connected together through the gear teeth 61 on the inner wall of the worm gear and the planetary gear 5 to be meshed. When the racing car is in operation, the self-locking performance of the worm gear mechanism is utilized to realize the flexible switching between the manual steering and the autonomous steering of the racing car, so that the steering resistance is smaller and the labor is saved during manual driving. When the driving mode is switched, the power separation device is not needed, the steering mechanism is simplified, the occupied space is reduced, and the light-weight design of the racing car is facilitated.

The motor 8 is connected with the output end of the controller, and the working state of the motor 8 is controlled through the controller. Specifically, the motor 8 is connected to the output of the controller via a driver 81.

The planetary gears 5 are uniformly distributed on the gear teeth 61 on the inner wall of the worm wheel 6, and the central axis of the sun wheel 4 is coincided with the central axis of the worm wheel 6. The number of the planetary gears 5 is three, and the included angle between every two adjacent planetary gears 5 is 120 degrees. Of course, the planetary gears 5 may be provided in four or more as needed.

The motor 8 is a stepping motor or a servo motor. The controller is an ECU. Be equipped with the mode of turning to and switch over the button on the formula car of driverless, the button design is on the control panel on steering wheel 1 right side, makes things convenient for the driver direct operation. When a driver presses a steering switching button, the key control system simulates a voltage signal and transmits the voltage signal to an ECU (electronic control unit), and the ECU makes a decision and outputs a switching instruction. Under the manual driving mode, the ECU controls the motor 8 to power off, and self-locking between the worm 7 and the worm wheel is realized. The driver drives the sun gear 4 and the planetary gears to output steering actions through the steering wheel 1. When the unmanned driving mode is switched through the button, the motor 8 is started by the ECU, the motor 8 is controlled by the ECU in real time, and the motor 8 directly controls the steering action of the racing car to finish the autonomous driving of the racing car.

The working principle is as follows:

in the unmanned driving mode, the ECU controls the motor 8 to start to work to drive the worm 7 to rotate, so that the worm 7 drives the worm wheel to rotate. The worm gear is engaged with the three planetary gears 5 through the inner gear teeth 61 to transmit power, so that the three planetary gears 5 rotate along the inner wall of the worm gear, and the planet carrier 9 is driven to rotate. The planet carrier 9 drives the third rotating shaft 10 to rotate, so that the third rotating shaft 10 drives the fourth rotating shaft 11 to rotate through the steering universal joint 14, and finally, the output gear 12 drives the rack on the tie rod 13 to slide, so that the rotary motion of the steering wheel 1 is converted into the left and right translational motion of the tie rod 13, and the autonomous steering is realized.

In the manned mode, the ECU controls the motor 8 to stop operating. Due to the self-locking property of the worm gear mechanism, the worm 7 can drive the worm wheel, but the worm wheel cannot drive the worm 7. The power output by the steering wheel 1 makes the sun gear 4 rotate in the forward or reverse direction through the first rotating shaft 2, the steering universal joint 14 and the second rotating shaft 3, and then drives the planetary gears 5 and the planetary carrier 9 to rotate. The planet carrier 9 drives the third rotating shaft 10 to rotate, so that the third rotating shaft 10 drives the fourth rotating shaft 11 to rotate through the steering universal joint 14, and finally, the output gear 12 drives the rack on the tie rod 13 to slide, so that the rotary motion of the steering wheel 1 is converted into the left and right translational motion of the tie rod 13, and manual steering is realized.

While the invention has been described in connection with what is presently considered to be the most practical and preferred embodiment, it is to be understood that the invention is not to be limited to the disclosed embodiment, but on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.