A bidirectional speed control decoupling mechanism

Abstract

The present invention discloses a bidirectional speed control decoupling mechanism, comprising: a tire holder; a spherical tire rotatably arranged in the tire holder; a driving mechanism, divided into two groups and arranged on two adjacent side walls of the tire holder, each of which has a spherical driving wheel shaft, the spherical driving wheel shaft contacts the spherical tire for driving the spherical tire to rotate; and a supporting mechanism for connecting the tire holder to the spherical tire, comprising a universal ball bearing in rotational contact with the spherical tire and a supporting portion fixedly connected to the tire holder. The beneficial effects of the present invention are: enabling the mobile test platform to flexibly move in any direction with any posture, thereby better and more accurately simulating the movement and posture of the target object, making the mobile flat panel more applicable, making the test more flexible, and enriching the test data, enabling the test platform to test more vehicle models, reducing vehicle testing costs, and improving test efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of automobile intelligent testing, and in particular to a bidirectional speed control decoupling mechanism. Background Art

[0002] The development of ADAS for smart cars is a strategic development direction for all automakers. With the implementation of supporting technologies, laws, and regulations, and the gradual mass production of smart cars with ADAS capabilities (hereinafter referred to as smart cars), they are gradually becoming part of people's daily lives. The ultimate realization of highly safe, human-free intelligent transportation is just around the corner.

[0003] During the R&D phase and before mass production of smart cars, relevant autonomous driving testing and experiments are essential. If autonomous driving technology is not yet mature and then tested on actual roads, it will affect road traffic safety and increase testing costs. Therefore, the current industry practice is to first test autonomous vehicles in closed test sites or indoors. Using various test equipment and relevant traffic simulators, realistic traffic scenarios are created for relevant autonomous driving testing and experiments, in order to obtain a large amount of test data for R&D.

[0004] The mobile test platform is one type of this type of test equipment. In actual testing, it is mainly used to carry various types of traffic object simulations (referred to as target objects) to build and simulate various traffic scenarios and traffic behaviors.

[0005] Mobile test platforms not only need to have high performance, but also need to be able to simulate the real movement and posture of traffic participants to the greatest extent possible. Traditional mobile test platforms are all ordinary four-wheel or three-wheel dual-axle structures, with one axle responsible for driving and one axle for steering. This technology can only cope with ordinary field tests, simple traffic scenes and traffic behaviors. However, when simulating some complex traffic behaviors, especially some dangerous or extreme traffic behaviors, traditional mobile test platforms are very difficult or even impossible to simulate the behavior and posture of real traffic participants. Furthermore, in some indoor unmanned driving test systems, because the tested vehicle is fixed, this requires the mobile test platform to be able to move independently to simulate the relative motion and real posture between it and the tested vehicle, so as to realize most traffic behaviors. Traditional mobile test platforms still cannot meet such usage requirements. Summary of the Invention

[0006] The object of the present invention is to provide a bidirectional speed control decoupling mechanism to solve the problems raised in the above background technology.

[0007] To achieve the above objectives, the present invention provides the following technical solution: a bidirectional speed control decoupling mechanism, comprising:

[0008] The tire cage is in the shape of a cube with circular holes on each of its faces;

[0009] a spherical tire rotatably disposed in the tire holder, wherein the tread of the spherical tire can extend from the circular hole to the outside of the tire holder;

[0010] A driving mechanism, divided into two groups and provided on two adjacent side walls of the tire retainer, each of which has a spherical driving wheel shaft, the spherical driving wheel shaft contacts the spherical tire to drive the spherical tire to rotate; and

[0011] The supporting mechanism is used to connect the tire retainer with the spherical tire, and comprises a universal ball bearing in rotational contact with the spherical tire and a supporting portion fixedly connected to the tire retainer.

[0012] Preferably, the driving mechanism further includes a servo motor, a bearing seat and a transmission pair, the bearing seat is mounted on the tire retaining frame, the servo motor is mounted on the bearing seat, the spherical drive axle is mounted on the bearing seat, the transmission pair is mounted on one end of the spherical drive axle, and the driving end of the servo motor is rotatably connected to the transmission pair through a transmission belt.

[0013] Preferably, the eight corners of the tire holder are all provided with inclined surfaces, the support portion is embedded in the inclined surfaces and one end extends into the inner cavity of the tire holder, and the universal ball bearing is provided at one end of the support portion extending into the inner cavity of the tire holder.

[0014] Preferably, the support portion is a circular base, which is connected to the circular holes on the side surfaces and top surface of the tire retainer. A plurality of universal wheel support frames are provided in the circular base, and spherical universal wheels are installed on the universal wheel support frames.

[0015] Preferably, the driving mechanisms are respectively arranged on two adjacent annular bases.

[0016] Preferably, two adjacent spherical drive wheel shafts are arranged on the same horizontal line at an angle of 90°.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] 1. The present invention provides two drive mechanisms, arranging two spherical drive wheel axles at a 90-degree angle. Their axes are on the same horizontal plane as the wheel center of the spherical tire. This arrangement allows the two spherical drive wheel axles to transmit power to the spherical tire in two directions, and the two axles are automatically decoupled and do not affect each other. By controlling the rotational speeds of the two axles separately and acting together on the spherical tire, the spherical tire can be moved in any direction at a controllable speed. This allows the mobile test platform to flexibly move in any direction with any posture, thereby better and more accurately simulating the movement and posture of the target object, making the mobile platform more applicable, more flexible in testing, and producing richer test data.

[0019] 2. The present invention can select the load of the test platform accordingly by setting support mechanisms with different loads, so that the test platform can test more vehicle models, reduce vehicle testing costs, and improve testing efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic structural diagram of an embodiment of the present invention;

[0021] Figure 2 This is a schematic structural diagram of another embodiment of the present invention;

[0022] Figure 3 This is a schematic diagram of the support mechanism structure of an embodiment of the present invention;

[0023] Figure 4 This is a schematic diagram of the support structure of another embodiment of the present invention;

[0024] Figure 5 A top view of the present invention;

[0025] Figure 6 It is a side view of the present invention;

[0026] Figure 7 This is a structural diagram of the connection between the present invention and the mobile test platform.

[0027] In the figure: 1. Tire holder; 11. Circular hole; 12. Inclined surface; 2. Spherical tire; 3. Driving mechanism; 31. Servo motor; 32. Bearing seat; 33. Transmission pair; 34. Spherical drive wheel shaft; 35. Transmission belt; 4. Support mechanism; 41. Universal ball bearing; 42. Cylindrical top seat; 43. Annular base; 44. Universal wheel support frame; 45. Spherical universal wheel. DETAILED DESCRIPTION

[0028] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0029] See also Figure 1-7 The present invention provides a technical solution: a bidirectional speed control decoupling mechanism, which is applied to an automobile test platform for testing the ADAS system of a newly-produced automobile. The mechanism includes a tire holder 1, a spherical tire 2, a drive mechanism 3, and a support mechanism 4. The spherical tire 2 is rotatably arranged in the tire holder 1. The drive mechanism 3 is used to drive the spherical tire 2 to rotate in different directions. The support mechanism 4 supports the spherical tire 2 inside the tire holder 1, so that the spherical tire 2 is rotatably connected to the tire holder 1, reducing friction during rotation to improve the sensitivity of the test.

[0030] In one embodiment provided by the present invention, the tire holder 1 is in the shape of a cube, and a circular hole 11 is provided on each surface thereof. The spherical tire 2 is installed in the tire holder 1, and its tread can extend from the circular hole 11 to the outside of the tire holder 1. When the spherical tire 2 rotates, its tread rotates in each circular hole 11 of the tire holder 1 respectively, and the tread of the circular hole 11 on the bottom end surface contacts the ground, driving the tire holder 1 to move.

[0031] In an embodiment provided by the present invention, the drive mechanism 3 is provided in two groups, which are respectively provided on two adjacent side walls of the tire retainer 1. The drive mechanism 3 includes a servo motor 31, a bearing seat 32, a transmission pair 33 and a spherical drive wheel shaft 34. The bearing seat 32 is mounted on the tire retainer 1, the servo motor 31 is mounted on the bearing seat 32, the spherical drive wheel shaft 34 is mounted on the bearing seat 32, the transmission pair 33 is mounted on one end of the spherical drive wheel shaft 34, the driving end of the servo motor 31 is rotatably connected to the transmission pair 33 through a transmission belt 35, and the spherical drive wheel shaft 34 is in contact with the spherical tire 2 for driving the spherical tire 2 to rotate.

[0032] Specifically, the driving mechanisms 3 are arranged on two adjacent side surfaces of the tire holder 1. The two driving structures 3 can respectively drive the spherical tires 2 to rotate in different directions. To achieve this purpose, the adjacent spherical driving wheel shafts 34 are arranged at a 90° angle on the same horizontal line.

[0033] In an embodiment provided by the present invention, the support mechanism 4 includes a universal ball bearing 41 in rotational contact with the spherical tire 2 and a support portion fixedly connected to the tire holder 1. The universal ball bearing 41 is provided at one end of the support portion and is in rotational contact with the spherical tire 2. Specifically, the support portion is a cylindrical top seat 42, which is embedded in the tire holder 1. More specifically, the eight corners of the tire holder are each provided with an inclined surface 12, the support portion is embedded in the inclined surface 12 and one end extends into the inner cavity of the tire holder 1, and the universal ball bearing 41 is provided at one end of the support portion extending to the inner cavity of the tire holder 1. The structure of the support mechanism 2 is simple and suitable for mobile test platforms with light loads.

[0034] In another embodiment provided by the present invention, when the load of the test platform is relatively large, the support mechanism 4 is configured such that the support portion is a circular ring base 43, and the annular base 43 is connected to the circular holes 11 on the side surfaces and the top surface of the tire retainer 1. Specifically, the annular base 43 is arranged at the edge of the circular hole 11, and a plurality of universal wheel support frames 44 are provided in the annular base 43, and spherical universal wheels 45 are mounted on the universal wheel support frames 44. This arrangement can withstand the test of a large load platform. In addition, the purpose of testing a large load can be achieved by adding the present invention to the test platform, for example, 6 or more of the present inventions can be set on the test platform.

[0035] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A bidirectional speed control decoupling mechanism, characterized in that: include: The tire cage is in the shape of a cube with circular holes on each of its faces; a spherical tire rotatably disposed in the tire holder, wherein the tread of the spherical tire can extend from the circular hole to the outside of the tire holder; A drive mechanism is provided in two groups on two adjacent side walls of the tire retainer, each of which has a spherical drive axle, the spherical drive axle contacts the spherical tire to drive the spherical tire to rotate, and the drive mechanism also includes a servo motor, a bearing seat and a transmission pair, the bearing seat is mounted on the tire retainer, the servo motor is mounted on the bearing seat, the spherical drive axle is mounted on the bearing seat, the transmission pair is mounted on one end of the spherical drive axle, and the driving end of the servo motor is rotationally connected to the transmission pair via a transmission belt; as well as A support mechanism is used to connect the tire holder to the spherical tire, including a universal ball bearing in rotational contact with the spherical tire and a support portion fixedly connected to the tire holder. The support portion is a circular base, which is connected to the circular holes on the side surfaces and top surface of the tire holder. Several universal wheel support frames are provided in the annular base, and spherical universal wheels are installed on the universal wheel support frames.

2. A bidirectional speed control decoupling mechanism according to claim 1, characterized in that: The eight corners of the tire holder are all provided with inclined surfaces, the support portion is embedded in the inclined surfaces and one end extends into the inner cavity of the tire holder, and the universal ball bearing is provided at one end of the support portion extending into the inner cavity of the tire holder.

3. The bidirectional speed control decoupling mechanism according to claim 2, characterized in that: The driving mechanisms are respectively arranged on two adjacent annular bases.

4. The bidirectional speed control decoupling mechanism according to claim 3, characterized in that: Two adjacent spherical drive wheel shafts are arranged on the same horizontal line at an angle of 90 degrees.

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