A multi-dimension fine-tuning mechanism for improving vehicle running trajectory stability

Abstract

The application aims at providing a multi-dimension fine adjustment mechanism for improving the stability of the operation track of a vehicle, relating to the steering technology field of a carbon-free trolley, transmission shafts arranged on both sides of the rear of a vehicle frame are connected through a differential, power is transmitted to the differential through a gear transmission mechanism on the vehicle frame, the differential is driven to rotate, thereby driving the transmission shafts and rear wheels on both sides to rotate, through the differential, the problem that one of the rear wheels will be stuck or stalled when the vehicle encounters uneven ground and large-angle steering is solved, and the stability of the vehicle when on uneven ground and large-angle steering is improved; mounting blocks are arranged on both sides of the rear of the vehicle frame in a sliding manner, and the rear wheels are rotatably connected to the mounting blocks through transmission shafts, the movement of the mounting blocks on both sides is controlled by a rear differential head one and a rear differential head two respectively, thereby adjusting the distance between the rear wheels and the vehicle frame, and correcting the error of the vehicle from the theoretical design value in the machining and assembling process.

Description

Technical Field

[0001] This invention relates to the field of carbon-free vehicle steering technology, and in particular to a multi-dimensional fine-tuning mechanism for improving the stability of vehicle trajectory. Background Technology

[0002] According to the requirements of the 2023 China Undergraduate Engineering Practice and Innovation Ability Competition, the on-site operation route of the vehicle starts from the starting point "Ruijin". The operation site is within an 8000mm×8000mm square plane area, with a total of 16 main locations set as alternative markers, of which "Ruijin" and "Yan'an" are mandatory markers.

[0003] As the level of competition increases and the track trajectory becomes more complex, although the circular "S" shaped trajectory of previous competitions also uses cam mechanisms to control vehicle steering, the circular "S" shaped vehicle running trajectory is relatively simple, the steering angle is small, the running distance is short, the cam profile features are relatively simple, the running ground is flat, the vehicle drive wheels do not need a differential mechanism, and the steering wheels only need a fine-tuning mechanism to meet the requirements of running trajectory stability. The utility model patent with publication number CN218640925U discloses a drive vehicle gear rack fine-tuning mechanism that can adapt to the above competition requirements.

[0004] However, the current operating trajectory distance is at least 16m, the trajectory is complex, the steering angle is large, the cam profile characteristics are complex, and the ground of the operating site is uneven. Theoretically, a vehicle with only one fine-tuning mechanism (steering wheel fine-tuning) can meet the operating trajectory requirements, but in actual operation, it is difficult to run according to the designed trajectory route, and the driving trajectory stability is poor. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides the following technical solution:

[0006] A multi-dimensional fine-tuning mechanism for improving the stability of vehicle trajectory includes a frame and a fine-tuning mechanism. The fine-tuning structure includes a front differential head one, a front differential head two, a rear differential head one, a rear differential head two, and a differential. Mounting blocks are slidably arranged on both rear sides of the frame. Drive shafts are rotatably mounted on the mounting blocks. The two drive shafts are connected by a differential. The other ends of the two drive shafts are fixedly mounted to the rear wheels. The rear differential head one and the rear differential head two are respectively fixed to the mounting blocks on both sides by bolts. The extended ends of the rear differential head one and the rear differential head two are respectively connected to the mounting blocks on both sides. The movement of the mounting blocks on both sides is controlled by the rear differential head one and the rear differential head two, thereby adjusting the distance between the rear wheels and the frame.

[0007] Furthermore, a gear transmission mechanism is fixedly installed at the rear of the frame by bolts, a cam is rotatably mounted on the gear transmission mechanism, and a toothed structure that meshes with the gear transmission mechanism is provided on the differential, which drives the differential and the cam to rotate through the gear transmission mechanism.

[0008] Furthermore, a front wheel steering mechanism is installed at the front of the frame. The front wheel steering mechanism includes a bogie, a front wheel, a sliding frame, a control block, and a connecting block fixedly mounted on the frame. The bogie is rotatably mounted on the connecting block, with its lower end passing through the frame. The front wheel is rotatably mounted on the lower end of the bogie, and a gear is fixedly mounted on the upper end of the bogie. The sliding frame is slidably mounted on the connecting block, and a front micrometer head is fixedly mounted on the connecting block. The extended end of the front micrometer head is connected to the sliding frame. The control block is slidably mounted on the sliding frame, and a second front micrometer head is fixedly mounted on one end of the control block, aligned with the edge of a cam. The distance between the second front micrometer head and the cam is adjusted. A rack is fixedly mounted on the other end of the control block, meshing with a gear on the upper end of the bogie. The rotation of the cam drives the second front micrometer head and the control block to slide. The transmission between the rack and the gear drives the bogie to rotate, and the movement of the sliding frame is controlled by the first front micrometer head. This adjusts the working height of the rack on the control block and the gear on the bogie, changing the radius of the gear contact point.

[0009] Furthermore, the drive shaft passes through the mounting block, and a bearing is sleeved on the outside of the drive shaft to rotatably connect it to the mounting block.

[0010] Furthermore, sliding notches are provided at both ends of the differential, and a crosshead is telescopically mounted on the end of the drive shaft near the differential, with the crosshead sliding along the sliding notch.

[0011] Compared with the prior art, the technical solution of this application has the following beneficial effects:

[0012] 1. This invention connects the drive shafts on both rear sides of the vehicle frame through a differential. Power is transmitted to the differential through a gear transmission mechanism on the vehicle frame, causing the differential to rotate, which in turn drives the drive shafts on both sides and the rear wheels to rotate. Through the differential, the problem of one of the rear wheels getting stuck or losing speed when the vehicle encounters uneven ground or makes a large-angle turn is solved, thus improving the stability of the vehicle on uneven ground and when making a large-angle turn.

[0013] 2. In this invention, mounting blocks are slidably installed on both sides of the rear of the vehicle frame, and the rear wheels are rotatably connected to the mounting blocks via a drive shaft. Rear microhead one and rear microhead two are respectively fixed to the mounting blocks on the corresponding sides of the vehicle frame with bolts. The protruding ends of rear microhead one and rear microhead two are respectively connected to the mounting blocks on both sides. The movement of the mounting blocks on both sides is controlled by rear microhead one and rear microhead two, thereby adjusting the distance between the rear wheels and the vehicle frame, correcting the error between the vehicle and the theoretical design value during the processing and assembly process, and by adjusting the distance between the rear wheels and the vehicle frame in conjunction with the steering of the front wheels, the steering amplitude in one direction can be assisted in adjusting the steering amplitude.

[0014] 3. In this invention, a sliding bracket is slidably mounted on the connecting block of the front wheel steering mechanism, and a control block is slidably mounted on the sliding bracket. A front microhead two is fixedly mounted on one end of the control block to align with a cam, and a rack is set at one end of the control block to mesh with the gear at the upper end of the bogie. The rotation of the cam drives the rack of the control block to slide, thereby driving the bogie to rotate and achieving steering. The distance between the front microhead two and the cam is adjusted by adjusting the contact distance. The sliding of the sliding bracket is controlled by the front microhead one mounted on the connecting block, which adjusts the working height of the rack on the control block and the gear of the bogie, and adjusts the gear-rack clearance. The radius of the gear contact point is changed by the size of the clearance. The smaller the radius, the larger the front wheel steering angle, and the larger the radius, the smaller the front wheel steering angle. This makes the actual steering angle match the theoretical value, allowing the trolley to effectively match the theoretical design and reduce errors. Attached Figure Description

[0015] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0016] Figure 2 This is a top view of the structure of the present invention;

[0017] Figure 3 This is a schematic diagram of the rear structure of the vehicle frame of the present invention;

[0018] Figure 4 This is an enlarged schematic diagram of point A at the rear of the vehicle frame of the present invention;

[0019] Figure 5 This is a schematic diagram of the front wheel steering mechanism of the present invention.

[0020] In the diagram: Frame-1, Front wheel steering mechanism-2, Front micrometer head 1-21, Front micrometer head 2-22, Sliding frame-23, Control block-24, Connecting block-25, Bogie-26, Front wheel-27, Rear wheel-3, Gear transmission mechanism-4, Differential-5, Sliding notch-51, Drive shaft-6, Crosshead-61, Rear micrometer head 1-7, Rear micrometer head 2-8, Mounting block-9, Cam-10. Detailed Implementation

[0021] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] Example 1:

[0023] Please see Figure 1-5 A multi-dimensional fine-tuning mechanism for improving the stability of vehicle trajectory includes a frame 1 and a fine-tuning mechanism. The fine-tuning structure includes a front differential head 21, a front differential head 22, a rear differential head 7, a rear differential head 8, and a differential 5. Mounting blocks 9 are slidably arranged on both rear sides of the frame 1. Drive shafts 6 are rotatably arranged on the mounting blocks 9. The two drive shafts 6 are connected by the differential 5. The other ends of the two drive shafts 6 are fixedly mounted with rear wheels 3.

[0024] In this embodiment, the drive shaft 6 passes through the mounting block 9, and a bearing is sleeved on the outside of the drive shaft 6 and rotates to connect with the mounting block 9. The gear transmission mechanism 4 is fixedly installed at the rear of the frame 1 by bolts. The cam 10 is rotatably installed on the gear transmission mechanism 4. The differential 5 is provided with a toothed structure that meshes with the gear transmission mechanism. The gear transmission mechanism 4 drives the differential 5 and the cam 10 to rotate.

[0025] In this embodiment, the drive shafts 6 set on both sides of the rear of the frame 1 are connected by a differential 5. The power is transmitted to the differential 5 through the gear transmission mechanism 4 on the frame 1, which drives the differential 5 to rotate, thereby driving the drive shafts 6 on both sides and the rear wheel 3 to rotate. Through the differential 5, the problem of one of the rear wheels 3 getting stuck or losing speed when the vehicle encounters uneven ground and makes a large-angle turn is solved, thus improving the stability of the vehicle on uneven ground and when making a large-angle turn.

[0026] Example 2:

[0027] Please see Figure 1-5 According to Embodiment 1, the rear micro head 1 7 and the rear micro head 2 8 are respectively fixedly mounted on the frame 1 on the mounting blocks 9 on both sides by bolts. The protruding ends of the rear micro head 1 7 and the rear micro head 2 8 are rotatably connected to the mounting blocks 9 on both sides. The rear micro head 1 7 and the rear micro head 2 8 control the movement of the mounting blocks 9 on both sides, thereby adjusting the distance between the rear wheel 3 and the frame 1.

[0028] In this embodiment, sliding notches 51 are provided at both ends of the differential 5, and a crosshead 61 is telescopically mounted on one end of the drive shaft 6 near the differential 5, and the crosshead 61 slides along the sliding notch 51.

[0029] In this embodiment, mounting blocks 9 are slidably arranged on both sides of the rear of the frame 1, and the rear wheel 3 is rotatably connected to the mounting blocks 9 via the drive shaft 6. The rear micro head 1 7 and the rear micro head 2 8 are respectively fixedly mounted on the mounting blocks 9 on the corresponding sides of the frame 1 by bolts. The protruding ends of the rear micro head 1 7 and the rear micro head 2 8 are respectively connected to the mounting blocks 9 on both sides. The rear micro head 1 7 and the rear micro head 2 8 control the movement of the mounting blocks 9 on both sides, thereby adjusting the distance between the rear wheel 3 and the frame 1, correcting the error between the vehicle and the theoretical design value during the processing and assembly process, and adjusting the distance between the rear wheel 3 and the frame 1 in conjunction with the steering of the front wheel 27 can assist in adjusting the steering amplitude in one direction.

[0030] Example 3:

[0031] Please see Figure 1-5 According to embodiments 1-2, a front wheel steering mechanism 2 is installed at the front of the frame 1. The front wheel steering mechanism 2 includes a bogie 26, a front wheel 27, a sliding frame 23, a control block 24, and a connecting block 25 fixedly installed on the frame 1. The bogie 26 is rotatably mounted on the connecting block 25, and the lower end of the bogie 26 passes through the frame 1. The front wheel 27 is rotatably mounted on the lower end of the bogie 26, and a gear is fixedly installed on the upper end of the bogie 26. The sliding frame 23 is slidably mounted on the connecting block 25, and a front micrometer head 21 is fixedly mounted on the connecting block 25. The protruding end of the front micrometer head 21 is connected to the sliding frame 23. The control block 24 is slidably mounted on the sliding frame 23, and the front micrometer head 22 is fixedly mounted on one end of the control block 24, aligned with the edge of the cam 10. The distance between the front micrometer head 22 and the cam 10 is adjusted by adjusting the distance between the front micrometer head 22 and the cam 10. The other end of the control block 24 is fixedly mounted with a rack that meshes with the gear on the upper end of the bogie 26. The rotation of the cam 10 drives the front micrometer head 22 and the control block 24 to slide. The transmission of the rack and gear drives the bogie 26 to rotate. The front micrometer head 21 controls the movement of the sliding frame 23, thereby adjusting the working height of the rack on the control block 24 and the gear on the bogie 26, and changing the radius of the gear contact point.

[0032] In this embodiment, a sliding bracket 23 is slidably installed on the connecting block 25 of the front wheel steering mechanism 2, and a control block 24 is slidably installed on the sliding bracket 23. A front micrometer head 22 is fixedly installed at one end of the control block 24, aligned with the cam 10. A rack is set at one end of the control block 24 to mesh with the gear at the upper end of the bogie 26. The rotation of the cam 10 drives the rack of the control block 24 to slide, which in turn drives the bogie 26 to rotate, thus achieving steering. The distance between the front micrometer head 22 and the cam 10 is adjusted to adjust the state of the front wheel 27 when it is traveling in a straight line. The sliding of the sliding bracket 23 is controlled by the front micrometer head 21 installed on the connecting block 25, which adjusts the working height of the rack on the control block 24 and the gear of the bogie 26, and adjusts the gear rack clearance. The radius of the gear contact point is changed by the size of the clearance. The smaller the radius, the larger the front wheel steering angle, and the larger the radius, the smaller the front wheel steering angle. This makes the actual steering angle match the theoretical value, allowing the car to effectively match the theoretical design and reduce errors.

[0033] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. A multi-dimensional fine-tuning mechanism for improving the stability of vehicle trajectory, comprising a frame and a fine-tuning mechanism, characterized in that, The fine-tuning structure includes a front differential head one, a front differential head two, a rear differential head one, a rear differential head two, and a differential. Mounting blocks are slidably mounted on both rear sides of the frame. Drive shafts are rotatably mounted on the mounting blocks, and the two drive shafts are connected by the differential. The other ends of the two drive shafts are fixedly mounted to the rear wheels. The rear differential head one and the rear differential head two are respectively fixed to the mounting blocks on both sides of the frame by bolts. The protruding ends of the rear differential head one and the rear differential head two are respectively connected to the mounting blocks on both sides. The movement of the mounting blocks on both sides is controlled by the rear differential head one and the rear differential head two, thereby adjusting the distance between the rear wheels and the frame.

2. The multi-dimensional fine-tuning mechanism for improving vehicle trajectory stability according to claim 1, characterized in that, A gear transmission mechanism is fixedly mounted at the rear of the frame by bolts. A cam is rotatably mounted on the gear transmission mechanism. The differential is provided with a toothed structure that meshes with the gear transmission mechanism. The gear transmission mechanism drives the differential and the cam to rotate.

3. The multi-dimensional fine-tuning mechanism for improving vehicle trajectory stability according to claim 1, characterized in that, The front wheel steering mechanism is mounted on the front of the chassis. The front wheel steering mechanism includes a bogie, a front wheel, a sliding frame, a control block, and a connecting block fixedly mounted on the chassis. The bogie is rotatably mounted on the connecting block, with its lower end passing through the chassis. The front wheel is rotatably mounted on the lower end of the bogie, and a gear is fixedly mounted on the upper end of the bogie. The sliding frame is slidably mounted on the connecting block, and a first front micrometer head is fixedly mounted on the connecting block, with its extended end connected to the sliding frame. The control block is slidably mounted on the sliding frame, and a second front micrometer head is fixedly mounted on one end of the control block, aligned with the edge of a cam. The second front micrometer head adjusts the contact distance with the cam. A rack is fixedly mounted on the other end of the control block, meshing with a gear on the upper end of the bogie. The rotation of the cam drives the second front micrometer head and the control block to slide, and the rack and gear drive the bogie to rotate. The first front micrometer head controls the movement of the sliding frame, thereby adjusting the working height of the rack on the control block and the gear on the bogie, and changing the radius of the gear contact point.

4. The multi-dimensional fine-tuning mechanism for improving vehicle trajectory stability according to claim 1, characterized in that, The drive shaft passes through the mounting block, and a bearing is sleeved on the outside of the drive shaft to rotatably connect it to the mounting block.

5. The multi-dimensional fine-tuning mechanism for improving vehicle trajectory stability according to claim 1, characterized in that, The differential has sliding notches at both ends, and a crosshead is telescopically mounted on the end of the drive shaft near the differential, with the crosshead sliding along the sliding notch.

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