Straight gear rack type man-machine co-driving dual-mode steering device of driverless racing car

Abstract

The utility model relates to an unmanned racing car straight gear rack type man-machine co-driving dual-mode steering device, which comprises a control mechanism, a steering gear and a transmission mechanism, the control mechanism comprises a steering wheel, a steering column transmission mechanism and a lower steering column gear, and the steering gear comprises a reversing gear box, a rack and a displacement sensor. The transmission mechanism comprises a motor, a speed reducer and an electromagnetic clutch; the steering wheel is in transmission connection with the lower steering column gear through the steering column transmission mechanism, and the lower steering column gear is connected with the reversing gear box in a matched mode and penetrates through the reversing gear box to be connected with the rack in a matched mode. The output end of the motor is connected with the speed reducer which is connected with the reversing gear box in a matched mode through the electromagnetic clutch. And the displacement sensor is linked with the rack so as to detect the displacement of the rack in real time. The device can flexibly achieve switching between manual operation and unmanned operation, steering is flexible and smooth, and the response speed is high.

Description

Technical Field

[0001] The utility model relates to the field of steering devices, in particular to a spur gear rack type human-machine co-driving dual-mode steering device for unmanned racing cars. Background Art

[0002] Mechanical rack-and-pinion steering systems are a classic steering mechanism, widely used in various automobiles and construction vehicles. When the driver turns the steering wheel, the steering shaft drives the pinion in the steering gear to rotate, which in turn drives the meshing rack to move linearly. The rack then transmits this motion to the wheels via the steering rod, achieving steering control.

[0003] In Formula Student racing, mechanical rack and pinion steering systems are widely used due to their simple, compact structure and high transmission efficiency. The steering system is the main system related to the performance of the racing car. It is a mechanism used to maintain or change the direction of the racing car. When the racing car is running, it ensures that there is a coordinated angle relationship between the steering wheels. The performance of the system directly affects the performance of the racing car. This system can not only meet the steering requirements of the racing car under high-speed driving and intense control, but also reduce the manufacturing cost and maintenance difficulty of the racing car to a certain extent. However, the existing steering system has the following problems: (1) The existing steering system mostly uses copper sleeves to directly contact the rack, resulting in excessive friction. The rack is easily rusted and stuck when exposed to the outside for a long time. (2) Most of the existing steering systems do not have the human-machine co-driving function. For some steering systems that have the human-machine co-driving function, the connection gap between the unmanned operating system and the steering mechanical structure is too large, resulting in the unmanned operating system being unresponsive. Utility Model Content

[0004] The purpose of the utility model is to provide a dual-mode steering device for unmanned racing car with spur gear rack and pinion, which can flexibly realize the switching between manual operation and unmanned operation, and has flexible and smooth steering and fast response speed.

[0005] In order to achieve the above-mentioned object, the technical solution adopted by the present invention is: a dual-mode steering device for human-machine co-driving with a spur gear rack for an unmanned racing car, comprising an operating mechanism, a steering gear and a transmission mechanism, wherein the operating mechanism comprises a steering wheel, a steering column transmission mechanism and a lower steering column gear, the steering gear comprises a reversing gearbox, a rack and a displacement sensor, and the transmission mechanism comprises a motor, a reducer and an electromagnetic clutch; the steering wheel is connected to the lower steering column gear through the steering column transmission mechanism, the lower steering column gear is connected to the reversing gearbox and is connected to the rack through the reversing gearbox; the output end of the motor is connected to the reducer, and the reducer is connected to the reversing gearbox via an electromagnetic clutch; the displacement sensor is linked to the rack to detect the displacement of the rack in real time.

[0006] Furthermore, the steering column transmission mechanism includes an upper steering column and an intermediate steering column, the output shaft of the steering wheel is fixedly connected to the first connecting end of the upper steering column, the second connecting end of the upper steering column is connected to the first connecting end of the intermediate steering column through a universal joint, and the second connecting end of the intermediate steering column is connected to the lower steering column gear through a universal joint.

[0007] Furthermore, the upper steering column is mounted on a bearing seat to provide stable support for the steering wheel.

[0008] Furthermore, the output shaft of the steering wheel is a spline shaft, and the spline shaft is connected to the first connecting end of the upper steering column via a key.

[0009] Furthermore, the lower steering column gear and the rack both adopt a straight tooth structure.

[0010] Furthermore, it includes a gear box bracket, the reversing gear box is installed on the gear box bracket, and the gear box bracket is installed on the device mounting base; the reversing gear box has a reversing gear transmission mechanism, and the reversing gear transmission mechanism is connected with the lower steering column gear.

[0011] Furthermore, it includes a rack housing, wherein the rack is installed in the rack housing and moves forward and backward in the rack housing under the drive of the lower steering column gear; the rack housing is installed in the gear box bracket.

[0012] Furthermore, the steering gear includes an upper bracket of a displacement sensor and a lower bracket of a displacement sensor, which are cooperatively connected to form a sensor installation space, the displacement sensor is slidably installed in the sensor installation space, and the lower bracket of the displacement sensor is installed on the device installation base.

[0013] Furthermore, the electromagnetic clutch includes an electromagnetic clutch upper plate and an electromagnetic clutch lower plate, the electromagnetic clutch upper plate is connected to the reversing gear box, and the electromagnetic clutch lower plate is connected to the reducer.

[0014] Furthermore, the reducer is fixedly mounted on the device mounting base via a motor bracket.

[0015] Compared with the existing technology, the present invention has the following beneficial effects: the present invention provides a dual-mode steering device for unmanned racing cars with spur gears and racks, which can flexibly realize the switching between manual operation and unmanned operation. The structure and transmission design are scientific and reasonable, the steering operation is flexible and smooth, the friction is small, the reaction is sensitive, and the response speed is fast, which enhances the handling performance of the racing car under high-speed driving and complex track conditions. In the unmanned driving mode, the racing car can also adapt to track changes more quickly, achieving more precise and stable driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a three-dimensional diagram of the device structure of an embodiment of the utility model;

[0017] Figure 2 This is a perspective plan view of the device structure of an embodiment of the utility model;

[0018] Figure 3 It is a structural diagram of the rack housing in an embodiment of the present utility model.

[0019] In the figure: 1. Motor; 2. Reducer; 3. Motor bracket; 4. Device mounting base; 5. Electromagnetic clutch lower plate; 6. Electromagnetic clutch upper plate; 7. Reversing gearbox; 8. Gearbox bracket; 9. Lower steering column gear; 10. Universal joint; 11. Intermediate steering column; 12. Upper steering column; 13. Bearing seat; 14. Steering wheel; 15. Ear; 16. Rack housing; 17. Displacement sensor lower bracket; 18. Displacement sensor upper bracket; 19. Displacement sensor; 20. Jackscrew; 21. Quick release; 22. Spline shaft; 23. Rack; 24. Rack support upper housing; 25. Translation bearing; 26. Rack support lower housing. DETAILED DESCRIPTION

[0020] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0021] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which the present application belongs.

[0022] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0023] like Figure 1 、 2As shown, this embodiment provides a dual-mode steering device for human-machine co-driving in a spur gear rack type unmanned racing car, including an operating mechanism, a steering gear, and a transmission mechanism. The operating mechanism includes a steering wheel 14, a steering column transmission mechanism, and a lower steering column gear 9. The steering gear includes a reversing gearbox 7, a rack 15, and a displacement sensor 19. The transmission mechanism includes a motor 1, a reducer 2, and an electromagnetic clutch. The steering wheel 14 is connected to the lower steering column gear 9 through the steering column transmission mechanism. The lower steering column gear 9 is connected to the reversing gearbox 7 and is connected to the rack 23 through the reversing gearbox 7. The output end of the motor 1 is connected to the reducer 2, which is connected to the reversing gearbox 7 through the electromagnetic clutch. The displacement sensor 19 is linked to the rack 23 to detect the displacement of the rack in real time.

[0024] The steering column transmission mechanism includes an upper steering column 12 and an intermediate steering column 11. The output shaft of the steering wheel 14 is fixedly connected to the first connecting end of the upper steering column 12. The second connecting end of the upper steering column 12 is connected to the first connecting end of the intermediate steering column 11 through a universal joint. The second connecting end of the intermediate steering column 11 is connected to the lower steering column gear 9 through a universal joint 10.

[0025] The upper steering column 12 is mounted on a bearing seat 13 to provide stable support for the steering wheel.

[0026] The output shaft of the steering wheel 14 is a spline shaft 22 , and the spline shaft 22 is connected to the first connecting end of the upper steering column 12 via a key.

[0027] In this embodiment, the steering wheel 14 is hollowed out through simulation analysis to reduce weight. Its handle is designed according to ergonomic principles to enhance the driver's operating feel. Its mounting position, angle, and height are calculated to conform to the spatial structure of the racing frame and competition rules. Furthermore, a sturdy bearing seat 13 provides stable support for the steering wheel. The dual bearings within the seat enhance stability, ensuring smooth rotation at high speeds and reducing friction and wear, providing the driver with a seamless control experience.

[0028] The lower steering column gear 9 and the rack 23 both adopt a straight tooth structure.

[0029] The device also includes a gear box bracket 8, the reversing gear box 7 is mounted on the gear box bracket 8, and the gear box bracket 8 is mounted on the device mounting base 4; the reversing gear box 7 has a reversing gear transmission mechanism, and the reversing gear transmission mechanism is connected to the lower steering column gear 9.

[0030] The device also includes a rack housing 16, in which the rack 23 is installed. Driven by the lower steering column gear 9, the rack 23 moves back and forth in the rack housing, thereby converting it into lateral movement of the ears 15 at both ends of the rack 23; the rack housing 16 is installed in the gear box bracket 8.

[0031] In this embodiment, the steering gear also includes an upper bracket 18 of a displacement sensor and a lower bracket 17 of a displacement sensor. The upper bracket 18 of the displacement sensor and the lower bracket 17 of the displacement sensor are connected to form a sensor installation space. The displacement sensor 19 is slidably installed in the sensor installation space, and the lower bracket 17 of the displacement sensor is installed on the device installation base plate 4.

[0032] The steering gear is the core of the racing car steering system. This device adopts an efficient and economical gear rack design. The rack housing 16 of the steering gear is strong and durable. The lower steering column gear 9 and the rack 23 both adopt a straight tooth structure, which fits tightly and is easy to disassemble and assemble, achieving efficient transmission. Figure 3 As shown, the present device also makes an innovative improvement to the connection between the rack and the rack housing. A translation bearing 25 is introduced into the rack support housing portion between the rack and the base plate to replace the traditional brass bushing. The translation bearing 25 is wrapped by the rack support upper housing 24 and the rack support lower housing 26 on the rack housing 16 and fixed to the base plate 4, thereby further reducing the friction resistance during the steering process, making the steering action smoother and improving the handling performance of the entire vehicle.

[0033] The electromagnetic clutch includes an electromagnetic clutch upper plate 6 and an electromagnetic clutch lower plate 5. The electromagnetic clutch upper plate 6 is connected to the reversing gear box 7, and the electromagnetic clutch lower plate 5 is connected to the reducer 2. The reducer 2 is fixedly mounted on the device mounting base 4 through the motor bracket 3.

[0034] To address the future development of unmanned driving technology, this device incorporates an unmanned system design. The system integrates key components such as the motor 1, reducer 2, electromagnetic clutches 5 and 6, a reversing gearbox 7, and a displacement sensor 19. The entire unmanned system is positioned in front of the cab to free up more space for the driver. The efficient coordination of the motor 1 and reducer 2 provides ample power for the steering system. The flexible switching of the electromagnetic clutches 5 and 6 enables seamless transitions between mechanical and unmanned system operation. The displacement sensor 19 monitors the steering wheel angle in real time, and the feedback data is retransmitted to the motor for closed-loop control, ensuring precise steering of the wheels. This system utilizes a more sophisticated reversing gearbox 7, reducing the gear backlash between the unmanned system and the mechanical structure, thereby improving the unmanned system's response speed. This design not only enhances the intelligence level of the race car but also lays a solid foundation for the future development of unmanned racing.

[0035] 1. Implementation of manual operating system:

[0036] The steering wheel 14 is directly connected to the quick-release mechanism 21, which connects to the splined shaft 22 via a slot, enabling torque transmission and quick insertion and removal. The splined shaft 22 is welded to the upper steering column 12. The upper steering column 12 and the two bearings in the bearing seat 13 have an interference fit to secure the steering mechanism. The upper steering column 12, the intermediate steering column 11, and the lower steering column gear 9 are connected via a universal joint 10, enabling flexible torque transmission. The lower steering column gear 9 is connected to the rack 23 for transmission. This series of operations converts the rotation of the steering wheel 14 into lateral movement of the lug 15.

[0037] In manual mode, the driver controls the car's steering by turning the steering wheel. The electromagnetic clutch is disengaged, ensuring the independence of the mechanical transmission path. Steering wheel rotation is first transmitted to the upper steering column. Through the flexible connection of the universal joint, power is smoothly transmitted to the middle steering column and ultimately to the lower steering column gear. The lower steering column gear meshes tightly with the rack, which, supported by the precise linear bearing, slides smoothly, driving the wheels to achieve steering. During this process, the driver can directly feel the steering feedback and flexibly adjust the steering wheel angle and speed according to road conditions and driving needs.

[0038] 2. Implementation of unmanned operating system:

[0039] Motor 1 connects to reducer 2 to increase torque. Reducer 2 is connected to the lower plate 5 of the electromagnetic clutch. A reversing gearbox 7 is connected to the upper plate 6 of the electromagnetic clutch. The electromagnetic clutch can be turned on and off to control the unmanned system's access. The reversing gearbox 7 and the lower steering column gear 9 are keyed together, converting the longitudinal rotation of the lower steering column gear 9 into lateral rotation of the output shaft through the meshing of two bevel gears.

[0040] In unmanned system operation mode, the electromagnetic clutch engages, and the electric motor drives the steering system. The motor is connected via a speed reducer, effectively increasing the output torque and ensuring sufficient driving force for the steering system. The motor's power is then directly transmitted to the reversing gearbox via the electromagnetic clutch. The reversing gearbox is tightly connected to the lower steering column gear, precisely controlling the direction and distance of the rack movement based on the unmanned system's instructions. Simultaneously, a displacement sensor connected to the rack monitors its position, representing the steering wheel angle, in real time. This data is fed back to the unmanned system in real time and forms a closed-loop control system with the motor control unit. By continuously adjusting the motor's output power and direction, the unmanned system achieves precise control of the steering system, enhancing the car's stability and safety when unmanned.

[0041] The electromagnetic clutch's rapid response and reliable operation are crucial when switching between the two operating modes. It ensures seamless transitions between manual and unmanned operation, allowing the race car to flexibly select operating modes based on different driving scenarios and requirements. Furthermore, the design of this patented product fully considers the complexity and challenges of racing events. By optimizing the transmission mechanism, introducing a linear bearing, and employing a precision reversing gearbox, the overall performance and reliability of the racing car's steering system are enhanced.

[0042] This utility model provides a dual-mode steering system for driverless racing cars, featuring a spur gear rack and pinion system for human-machine co-piloting. Designed for Formula Student racing, it aims to improve the car's steering performance and handling stability. Through its innovative structural design, the system effectively reduces the driver's control burden and improves the car's steering flexibility and responsiveness. During competition, the car will be able to adapt more quickly to track changes, achieving more precise and stable driving performance. The system is also suitable for retrofitting and upgrading steering systems for other types of racing cars and vehicles, contributing to technological advancements and performance improvements in the racing field.

[0043] The above description is merely a preferred embodiment of the present invention and does not constitute any limitation thereto. Any person skilled in the art may utilize the above disclosure to modify or remodel the present invention into equivalent embodiments. However, any simple modifications, equivalent variations, and modifications to the above embodiments that do not depart from the technical content of the present invention and are based on the technical essence of the present invention shall remain within the scope of protection of the present invention.

Claims

1. A dual-mode steering device for unmanned racing cars with spur gears and racks, characterized in that: The invention comprises an operating mechanism, a steering gear and a transmission mechanism, wherein the operating mechanism comprises a steering wheel, a steering column transmission mechanism and a lower steering column gear, the steering gear comprises a reversing gearbox, a rack and a displacement sensor, and the transmission mechanism comprises a motor, a reducer and an electromagnetic clutch; the steering wheel is connected to the lower steering column gear through the steering column transmission mechanism, the lower steering column gear is connected to the reversing gearbox and is connected to the rack through the reversing gearbox; the output end of the motor is connected to the reducer, and the reducer is connected to the reversing gearbox through the electromagnetic clutch; the displacement sensor is linked to the rack to detect the displacement of the rack in real time.

2. The unmanned racing car spur gear rack dual-mode steering device according to claim 1, characterized in that: The steering column transmission mechanism includes an upper steering column and an intermediate steering column, the output shaft of the steering wheel is fixedly connected to the first connecting end of the upper steering column, the second connecting end of the upper steering column is connected to the first connecting end of the intermediate steering column through a universal joint, and the second connecting end of the intermediate steering column is connected to the lower steering column gear through a universal joint.

3. The unmanned racing car spur gear rack dual-mode steering device according to claim 2, characterized in that: The upper steering column is mounted on the bearing seat to provide stable support for the steering wheel.

4. The unmanned racing car spur gear rack dual-mode steering device according to claim 2, characterized in that: The output shaft of the steering wheel is a spline shaft, and the spline shaft is connected to the first connecting end of the upper steering column through a key.

5. The unmanned racing car spur gear rack dual-mode steering device according to claim 1, characterized in that: The lower steering column gear and the rack both adopt a straight tooth structure.

6. The unmanned racing car spur gear rack dual-mode steering device according to claim 1, characterized in that: It includes a gear box bracket, the reversing gear box is installed on the gear box bracket, and the gear box bracket is installed on the device mounting base; the reversing gear box has a reversing gear transmission mechanism, and the reversing gear transmission mechanism is connected with the lower steering column gear.

7. The unmanned racing car spur gear rack dual-mode steering device according to claim 6, characterized in that: It includes a rack housing, in which the rack is installed and moves forward and backward in the rack housing under the drive of the lower steering column gear; the rack housing is installed in the gear box bracket.

8. The unmanned racing car spur gear rack dual-mode steering device according to claim 1, characterized in that: The steering gear includes an upper bracket of a displacement sensor and a lower bracket of a displacement sensor, which are connected to form a sensor installation space. The displacement sensor is slidably installed in the sensor installation space, and the lower bracket of the displacement sensor is installed on the device installation base plate.

9. The unmanned racing car spur gear rack dual-mode steering device according to claim 1, characterized in that: The electromagnetic clutch comprises an electromagnetic clutch upper plate and an electromagnetic clutch lower plate. The electromagnetic clutch upper plate is connected to a reversing gear box, and the electromagnetic clutch lower plate is connected to a speed reducer.

10. The unmanned racing car spur gear rack dual-mode steering device according to claim 1, characterized in that: The reducer is fixedly mounted on the device mounting base plate via a motor bracket.

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