Ferry vehicle steering mechanism, ferry vehicle steering control system and ferry vehicle

Abstract

The utility model provides a ferry vehicle steering mechanism, a ferry vehicle steering control system and a ferry vehicle, and relates to the technical field of vehicles. The ferry vehicle steering mechanism comprises an angle driver, a steering gear, a steering pull rod mechanism, a manual steering structure and a steer-by-wire structure. The angle driver is in transmission connection with the steering pull rod mechanism through the steering gear. The manual steering structure and the steer-by-wire structure are configured to be selectively connected to the angle driver and used for switching between a manual steering mode and a steer-by-wire mode so as to meet different use requirements of a user under different working conditions. The angle driver is in transmission connection with the steering pull rod mechanism through the steering gear, namely, the steer-by-wire structure is located on the front portion of the steering gear, due to the fact that the steering gear can play a role in increasing torque to a certain degree, the angle driver can have small driving torque, the control precision of the angle driver is high, and more accurate unmanned steering control is achieved.

Description

Technical Field

[0001] The utility model generally relates to the technical field of vehicles, and in particular to a ferry steering mechanism, a ferry steering control system and a ferry. Background Art

[0002] Airport passenger shuttle buses are special vehicles for airports. They are mainly used to transport passengers from the terminal to the plane, or from the terminal to the parking lot or to a nearby station.

[0003] With the rapid development of unmanned driving technology in recent years, it has been tested and applied in various industries. As a special vehicle in the field, the shuttle bus has a relatively fixed route and clear road right allocation, which is suitable for the application environment of unmanned driving technology. However, due to the heavy weight and full load mass of the shuttle bus, there is currently no mature unmanned steering mechanism or solution that can be applied.

[0004] If the steering mechanism is directly installed on the steering gear for integration, the integrated development cost is high; if the steering mechanism is installed on the steering column, a larger installation space will be required, which will occupy the driver's leg space and affect the comfort of use. Utility Model Content

[0005] The utility model provides a ferry vehicle steering mechanism, a ferry vehicle steering control system and a ferry vehicle, which realize two driving modes, automatic and manual, and have low production costs.

[0006] According to a first aspect of the utility model, a ferry vehicle steering mechanism is provided, comprising:

[0007] An angle transmission device, a steering gear and a steering tie rod mechanism, wherein the angle transmission device is connected to the steering tie rod mechanism through the steering gear;

[0008] The manual steering structure and the steer-by-wire structure are configured to be selectively connected to the angle actuator for switching between a manual steering mode and a steer-by-wire mode.

[0009] In some embodiments, the shuttle vehicle steering mechanism further includes a steering transmission shaft, and the angle transmission is connected to the steering gear via the steering transmission shaft.

[0010] The steering transmission shaft plays the role of intermediate connection and power transmission. The steering transmission shaft serves as the output shaft of the angle actuator, so that the rotational power of the angle actuator is transmitted to the steering gear through the steering transmission shaft.

[0011] In some embodiments, the angle actuator is provided with a power output interface and two power input interfaces, the two power input interfaces are respectively connected to the manual steering structure and the wire-controlled steering structure, and the power output interface is connected to the steering transmission shaft.

[0012] Among them, the angle actuator is a two-input and one-output angle actuator. Compared with the conventional angle actuator, a power input interface is added, and the angle actuator has two power output interfaces, one of which is used to connect the wire-controlled drive structure, and the other is used to connect the electric control drive source with a reducer or a reducer. Since the two power input interfaces can be connected to the two drive sources of manual steering and wire-controlled steering, free switching between manual steering and wire-controlled steering is achieved. At the same time, the power output interface of the angle actuator is connected to the steering gear through the steering transmission shaft. After the power is aggregated, the angle actuator can also output power in a directional manner and control the same set of wheels.

[0013] In some embodiments, the manual steering structure includes a steering wheel and a main transmission shaft, and the output end of the steering wheel is connected to the angle actuator through the main transmission shaft.

[0014] Specifically, based on the road condition information, the driver operates the steering wheel after a preliminary prediction, and uses the main drive shaft to transmit the rotational motion of the steering wheel to the angle transmission, thereby realizing the steering of the shuttle bus.

[0015] In some embodiments, the steer-by-wire structure includes an electric-controlled drive source and a reducer, and the output end of the electric-controlled drive source is transmission-connected to the angle actuator via the reducer.

[0016] The electric drive source may be a drive motor or other drive components with a rotation function, and the reducer plays a role in transmitting power between the electric drive source and the angular actuator, and can reduce speed to simulate the control of the rotation angle of the wheel and realize the requirements of large-tonnage wire control steering. It is understandable that the electric drive source and the reducer can be a split structure, or the electric drive source and the reducer can be an integral structure, that is, the reducer is integrated into the electric drive source, and during installation, the electric drive source with the reducer can be installed as a whole to the angular actuator.

[0017] In some embodiments, the steering tie rod mechanism includes a longitudinal steering rod and a transverse steering rod, one end of the longitudinal steering rod is rotatably connected to the steering gear, and the other end is rotatably connected to the transverse steering rod and the wheel, and the transverse steering rod is arranged between two oppositely arranged wheels.

[0018] Specifically, the steering gear is used to convert the rotational motion into the linear motion of the steering longitudinal tie rod, and the steering longitudinal tie rod pulls the wheel hub of one of the wheels to rotate. The steering tie rod is arranged between two oppositely arranged wheels so that the two wheels can rotate synchronously.

[0019] In some embodiments, the longitudinal tie rod, the transverse tie rod and the wheel are connected via a steering knuckle arm.

[0020] The steering rocker arm can also be called a steering lever. Specifically, the steering knuckle arm includes a column, the upper end of the column is rotatably connected to two first connecting rods, the ends of the two first connecting rods away from the column are respectively rotatably connected to the steering longitudinal tie rod and the steering transverse tie rod, and the lower end of the column is rotatably connected to the wheel hub.

[0021] According to the second aspect of the utility model, an embodiment of the utility model further provides a shuttle bus steering control system, including the above-mentioned shuttle bus steering mechanism.

[0022] In some of the embodiments, a sensor and a controller are further included, wherein the sensor is used to collect road condition information, and the controller is electrically connected to the sensor and the wire-controlled steering structure.

[0023] According to the third aspect of the utility model, an embodiment of the utility model further provides a shuttle bus, including the above-mentioned shuttle bus steering control system.

[0024] An embodiment of the utility model has the following advantages or beneficial effects:

[0025] The ferry steering mechanism, ferry steering control system and ferry provided in this embodiment, the manual steering structure and the wire-controlled steering structure are selectively connected to the angle actuator, so as to realize the free switching between the manual steering mode and the wire-controlled steering mode, so as to meet the different use requirements of users under different working conditions. The angle actuator is connected to the steering rod mechanism through the steering gear transmission, that is, the wire-controlled steering structure is located in the front part of the steering gear. Since the steering gear can increase the torque to a certain extent, the angle actuator can have a smaller driving torque, and the control accuracy of the angle actuator is high, so as to realize more accurate unmanned driving steering control. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to better understand the utility model, reference may be made to the embodiments shown in the following drawings. The components in the drawings are not necessarily to scale, and related elements may be omitted in order to emphasize and clearly illustrate the technical features of the utility model. In addition, related elements or components may have different settings as known in the art. In addition, in the drawings, the same reference numerals represent the same or similar components in each of the drawings. By describing its example embodiments in detail with reference to the drawings, the above and other features and advantages of the utility model will become more apparent.

[0027] in:

[0028] Figure 1 The structure of the steering mechanism of the shuttle bus according to the present invention is shown in FIG. Figure 1 ;

[0029] Figure 2 The structure of the steering mechanism of the shuttle bus according to the present invention is shown in FIG. Figure 2 ;

[0030] Figure 3 Shown is a structural schematic diagram of an angle actuator in a ferry vehicle steering mechanism according to an embodiment of the utility model.

[0031] The reference numerals are described as follows:

[0032] 1. Angle actuator; 2. Steering gear; 3. Steering tie rod mechanism; 4. Manual steering structure; 5. Wire-controlled steering structure; 6. Steering transmission shaft; 7. Wheels; 8. Axles;

[0033] 11. Power output interface; 12. Power input interface;

[0034] 31. Steering longitudinal tie rod; 32. Steering transverse tie rod;

[0035] 41. Steering wheel; 42. Main drive shaft. DETAILED DESCRIPTION

[0036] The following will be combined with the drawings in the example embodiments of the utility model to clearly and completely describe the technical solutions in the example embodiments of the utility model. The example embodiments described herein are only for illustrative purposes and are not intended to limit the scope of protection of the utility model. Therefore, it should be understood that various modifications and changes can be made to the example embodiments without departing from the scope of protection of the utility model.

[0037] In the description of the present invention, unless otherwise clearly specified and limited, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance; the term "plurality" refers to two or more; the term "and / or" includes any and all combinations of one or more associated listed items. In particular, reference to "the / the" object or "an" object is also intended to indicate one of a possible plurality of such objects.

[0038] Unless otherwise specified or explained, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, an integral connection, an electrical connection, or a signal connection; "connection" can be a direct connection or an indirect connection through an intermediate medium. For those skilled in the art, the specific meanings of the above terms in this utility model can be understood according to specific circumstances.

[0039] Further, in the description of the present invention, it should be understood that the directional words such as "upper", "lower", "inner", "outer" and the like described in the exemplary embodiments of the present invention are described at the angles shown in the accompanying drawings and should not be understood as limitations on the exemplary embodiments of the present invention. It should also be understood that, in the context, when it is mentioned that an element or feature is connected to another element (one or more) "upper", "lower", or "inner", "outer", it can not only be directly connected to the other (one or more) elements "upper", "lower", or "inner", "outer", but can also be indirectly connected to the other (one or more) elements "upper", "lower", "inner", "outer" through an intermediate element.

[0040] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in a variety of forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that the present invention will be comprehensive and complete and fully convey the concepts of the example embodiments to those skilled in the art. The same reference numerals in the figures represent the same or similar structures, and thus their detailed description will be omitted.

[0041] This embodiment provides a ferry vehicle steering mechanism, such as Figure 1-Figure 2 As shown, the ferry vehicle steering mechanism includes an angle actuator 1, a steering gear 2, a steering rod mechanism 3, a manual steering structure 4 and a wire-controlled steering structure 5. The angle actuator 1 is connected to the steering rod mechanism 3 through the steering gear 2. The manual steering structure 4 and the wire-controlled steering structure 5 are configured to be selectively connected to the angle actuator 1 for switching between a manual steering mode and a wire-controlled steering mode.

[0042] The ferry steering mechanism provided in this embodiment, the manual steering structure 4 and the wire-controlled steering structure 5 are selectively connected to the angle actuator 1, so as to realize the free switching between the manual steering mode and the wire-controlled steering mode, so as to meet the different use requirements of users under different working conditions. The angle actuator 1 is connected to the steering rod mechanism 3 through the steering gear 2, that is, the wire-controlled steering structure 5 is located in front of the steering gear 2. Since the steering gear 2 can increase the torque to a certain extent, the angle actuator 1 can have a smaller driving torque, and the control accuracy of the angle actuator 1 is high, so as to realize more accurate unmanned driving steering control.

[0043] It can be understood that the shuttle bus steering mechanism provided in this embodiment can be directly upgraded on the conventional steering mechanism, that is, a wire-controlled steering structure 5 is directly added to the angle actuator 1, which simplifies the process and reduces the modification cost.

[0044] In one embodiment, Figure 1-Figure 2 As shown, the manual steering structure 4 includes a steering wheel 41 and a main transmission shaft 42 , and the output end of the steering wheel 41 is connected to the angle transmission device 1 through the main transmission shaft 42 .

[0045] Specifically, according to the road condition information, the driver operates the steering wheel 41 after preliminary prediction, and uses the main transmission shaft 42 to transmit the rotational motion of the steering wheel 41 to the angle transmission device 1, thereby realizing the steering of the shuttle bus.

[0046] In one embodiment, the wire-controlled steering structure 5 includes an electric-controlled driving source (not shown in the figure) and a reducer (not shown in the figure), and the output end of the electric-controlled driving source is connected to the angle actuator 1 through the reducer.

[0047] The electric drive source may be a drive motor or other drive components with a rotation function, and the reducer plays a role in power transmission between the electric drive source and the angle actuator 1, and can reduce speed, which is used to simulate the rotation angle of the wheel 7 and realize the large-tonnage wire control steering requirements. It can be understood that the electric drive source and the reducer can be a split structure, and the electric drive source and the reducer can also be an integral structure, that is, the reducer is integrated into the electric drive source, and when installing, the electric drive source with the reducer can be installed as a whole on the angle actuator 1.

[0048] In one embodiment, Figure 1-Figure 2 As shown, the ferry vehicle steering mechanism also includes a steering transmission shaft 6, and the angle transmission device 1 is connected to the steering gear 2 through the steering transmission shaft 6. The steering transmission shaft 6 plays the role of intermediate connection and power transmission. The steering transmission shaft 6 serves as the output shaft of the angle transmission device 1, so that the rotational power of the angle transmission device 1 is transmitted to the steering gear 2 through the steering transmission shaft 6.

[0049] In one embodiment, Figure 1 and Figure 3 As shown, the angle actuator 1 is provided with a power output interface 11 and two power input interfaces 12 . The two power input interfaces 12 are respectively connected to the manual steering structure 4 and the wire-controlled steering structure 5 . The power output interface 11 is connected to the steering transmission shaft 6 .

[0050] Among them, the angle actuator 1 is a two-input and one-output angle actuator 1. Compared with the conventional angle actuator 1, a power input interface 12 is added, and the angle actuator 1 has two power output interfaces 11, one of which is used to connect the wire-controlled steering structure 5, and the other is used to connect the electric control drive source with a reducer or a reducer. Since the two power input interfaces 12 can be connected to the two drive sources of manual steering and wire-controlled steering, free switching between manual steering and wire-controlled steering is achieved. At the same time, the power output interface 11 of the angle actuator 1 is connected to the steering gear 2 through the steering transmission shaft 6. After the power is aggregated, the angle actuator 1 can also output directional power and control the same set of wheels 7.

[0051] It can be understood that the angle actuator 1 has a function similar to that of a shuttle valve. In this embodiment, only two functions, manual steering and wire-controlled steering, are required and both functions can be realized simultaneously through the angle actuator 1. The internal detailed structure of the angle actuator 1 is not limited. Only two functions, manual steering and wire-controlled steering, are required to be integrated in the angle actuator 1 without interfering with each other.

[0052] In one embodiment, Figure 1-Figure 2 As shown, the steering tie rod mechanism 3 includes a steering longitudinal tie rod 31 and a steering transverse tie rod 32. One end of the steering longitudinal tie rod 31 is transmission-connected to the steering gear 2, and the other end is rotationally connected to the steering transverse tie rod 32 and the wheel 7. The steering transverse tie rod 32 is arranged between two oppositely arranged wheels 7.

[0053] Specifically, the steering gear 2 is used to convert the rotational motion into the linear motion of the steering longitudinal tie rod 31, and the steering longitudinal tie rod 31 pulls the wheel hub of one of the wheels 7 to rotate. The steering transverse tie rod 32 is arranged between two oppositely arranged wheels 7, so that the two wheels 7 can rotate synchronously.

[0054] In one embodiment, the steering longitudinal tie rod 31, the steering transverse tie rod 32 and the wheel 7 are connected via a steering knuckle arm (not shown in the figure), wherein the steering rocker arm can also be called a steering lever. Specifically, the steering knuckle arm includes a column, the upper end of the column is rotatably connected to two first connecting rods, the ends of the two first connecting rods away from the column are respectively rotatably connected to the steering longitudinal tie rod 31 and the steering transverse tie rod 32, and the lower end of the column is rotatably connected to the wheel hub of the wheel 7.

[0055] This embodiment also provides a shuttle bus steering control system, including the above-mentioned shuttle bus steering mechanism.

[0056] In the ferry steering control system provided in this embodiment, the manual steering structure 4 and the wire-controlled steering structure 5 of the ferry steering mechanism are selectively connected to the angle actuator 1, so as to realize the free switching between the manual steering mode and the wire-controlled steering mode, so as to meet the different use requirements of users under different working conditions. The angle actuator 1 is connected to the steering rod mechanism 3 through the steering gear 2, that is, the wire-controlled steering structure 5 is located in front of the steering gear 2. Since the steering gear 2 can increase the torque to a certain extent, the angle actuator 1 can have a smaller driving torque, and the control accuracy of the angle actuator 1 is high, so as to realize more accurate unmanned driving steering control.

[0057] In one embodiment, the shuttle bus steering control system also includes a sensor (not shown in the figure) and a controller (not shown in the figure), the sensor is used to collect road condition information, and the controller is electrically connected to the sensor and the wire-controlled steering structure 5.

[0058] The sensors include but are not limited to at least one of infrared sensors, speed sensors, pressure sensors and acceleration sensors. The sensors can be installed on various parts of the shuttle bus. Different types of sensors are used to detect different parameter information of the shuttle bus to correspond to the current road condition information of the shuttle bus. The sensor transmits the collected parameter information to the controller, and the controller controls the rotation direction and rotation speed of the electric control drive source, thereby realizing the steering action of the shuttle bus when it is unmanned.

[0059] The working process of the shuttle vehicle steering control system provided in this embodiment is as follows:

[0060] 1. In manual steering mode, the driver operates the steering wheel 41 after preliminary prediction based on road condition information, and uses the main transmission shaft 42 to transmit the rotational movement of the steering wheel 41 to the angle transmission device 1. The angle transmission device 1 transmits the rotational power to the steering gear 2 through the steering transmission shaft 6, and then drives the wheel 7 to steer through the steering longitudinal tie rod 31 and the steering transverse tie rod 32.

[0061] 2. In the wire control steering mode, different types of sensors are used to detect different parameter information of the shuttle bus to correspond to the current road condition information of the shuttle bus. The sensor transmits the collected parameter information to the controller, and the controller controls the rotation direction and rotation speed of the electric control drive source to realize the steering action when the shuttle bus is unmanned.

[0062] This embodiment also provides a shuttle bus, including the above-mentioned shuttle bus steering control system.

[0063] The shuttle bus provided in this embodiment includes a shuttle bus steering control system, a manual steering structure 4 and a wire-controlled steering structure 5 are selectively connected to the angle actuator 1, and a free switch between a manual steering mode and a wire-controlled steering mode is realized to meet the different use requirements of users under different working conditions. The angle actuator 1 is connected to the steering rod mechanism 3 through the steering gear 2, that is, the wire-controlled steering structure 5 is located in front of the steering gear 2. Since the steering gear 2 can increase the torque to a certain extent, the angle actuator 1 can have a smaller driving torque, and the control accuracy of the angle actuator 1 is high, so that more accurate unmanned driving steering control is realized.

[0064] It should be noted that the embodiments of the present invention are shown in the drawings and described in this specification is only an example of the principle of the present invention. It should be clearly understood by those skilled in the art that the principle of the present invention is not limited to any details or any components of the device shown in the drawings or described in the specification.

[0065] It should be understood that the utility model does not limit its application to the detailed structure and arrangement of the components proposed in this specification. The utility model can have other embodiments and can be implemented and executed in a variety of ways. The aforementioned deformation forms and modified forms fall within the scope of the utility model. It should be understood that the utility model disclosed and defined in this specification extends to all alternative combinations of two or more individual features mentioned or evident in the text and / or the drawings. All these different combinations constitute multiple alternative aspects of the utility model. The embodiments described in this specification illustrate the best known methods for implementing the utility model and will enable those skilled in the art to utilize the utility model.

[0066] Those skilled in the art will readily come up with other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variation, use, or adaptation of the present invention, which follows the general principles of the present invention and includes common knowledge or customary technical means in the art that are not disclosed in the present invention. The specification and example embodiments are to be considered as exemplary only, and the true scope and spirit of the present invention are indicated by the appended claims.

[0067] It should be understood that the present invention is not limited to the precise structure described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of protection of the present invention is limited only by the appended claims.

Claims

1. A ferry vehicle steering mechanism, characterized in that: include: An angle transmission device, a steering gear and a steering tie rod mechanism, wherein the angle transmission device is connected to the steering tie rod mechanism through the steering gear; The manual steering structure and the steer-by-wire structure are configured to be selectively connected to the angle actuator for switching between a manual steering mode and a steer-by-wire mode.

2. The ferry vehicle steering mechanism according to claim 1, characterized in that: The shuttle vehicle steering mechanism also includes a steering transmission shaft, and the angle transmission device is connected to the steering gear through the steering transmission shaft.

3. The ferry vehicle steering mechanism according to claim 2, characterized in that: The angle transmission device is provided with a power output interface and two power input interfaces, the two power input interfaces are respectively connected to the manual steering structure and the wire-controlled steering structure, and the power output interface is connected to the steering transmission shaft.

4. The ferry vehicle steering mechanism according to claim 1, characterized in that: The manual steering structure comprises a steering wheel and a main transmission shaft, and the output end of the steering wheel is connected to the angle transmission device through the main transmission shaft.

5. The ferry vehicle steering mechanism according to claim 1, characterized in that: The wire-controlled steering structure includes an electric-controlled driving source and a reducer, and the output end of the electric-controlled driving source is connected to the angle actuator through the reducer.

6. The ferry vehicle steering mechanism according to claim 1, characterized in that: The steering tie rod mechanism comprises a steering longitudinal tie rod and a steering transverse tie rod. One end of the steering longitudinal tie rod is rotatably connected to the steering gear, and the other end is rotatably connected to the steering transverse tie rod and the wheel. The steering transverse tie rod is arranged between two oppositely arranged wheels.

7. The ferry vehicle steering mechanism according to claim 6, characterized in that: The longitudinal steering rod, the transverse steering rod and the wheels are connected via a steering knuckle arm.

8. A ferry vehicle steering control system, characterized in that: It comprises the ferry vehicle steering mechanism as described in any one of claims 1-7.

9. The shuttle vehicle steering control system according to claim 8, characterized in that: It also includes a sensor and a controller, wherein the sensor is used to collect road condition information, and the controller is electrically connected to the sensor and the wire-controlled steering structure.

10. A shuttle bus, characterized in that: Including the shuttle vehicle steering control system as described in any one of claims 8-9.

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