CN114001982B - Ackerman structure simulation car experiment platform - Google Patents
Ackerman structure simulation car experiment platform Download PDFInfo
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- CN114001982B CN114001982B CN202111412765.2A CN202111412765A CN114001982B CN 114001982 B CN114001982 B CN 114001982B CN 202111412765 A CN202111412765 A CN 202111412765A CN 114001982 B CN114001982 B CN 114001982B
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- steering
- bottom plate
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- 238000004088 simulation Methods 0.000 title claims abstract description 28
- 238000002474 experimental method Methods 0.000 title claims abstract description 16
- 230000007246 mechanism Effects 0.000 claims abstract description 29
- 230000005540 biological transmission Effects 0.000 claims abstract description 11
- 239000006096 absorbing agent Substances 0.000 claims description 14
- 230000035939 shock Effects 0.000 claims description 14
- 230000001681 protective effect Effects 0.000 claims description 8
- 230000008878 coupling Effects 0.000 claims description 7
- 238000010168 coupling process Methods 0.000 claims description 7
- 238000005859 coupling reaction Methods 0.000 claims description 7
- 230000000694 effects Effects 0.000 abstract description 4
- 238000005516 engineering process Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012360 testing method Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000009877 rendering Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Arrangement And Driving Of Transmission Devices (AREA)
- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
Abstract
The invention discloses an ackerman structure simulation vehicle experiment platform, which comprises a bottom plate, wherein a top plate is arranged above the bottom plate, and a laser radar and a camera are arranged above the top plate; a motor is arranged between the bottom plate and the top plate, the driving end of the motor is connected with a front differential mechanism and a rear differential mechanism, the output end of the front differential mechanism is in transmission fit with a pair of front wheels, and the output end of the rear differential mechanism is in transmission fit with a pair of rear wheels. The simulation car experimental platform with the Ackerman structure has the advantages of good experimental effect, high structural rationality and simple and reliable structure.
Description
Technical Field
The invention belongs to the technical field of automobile experiments, and particularly relates to an ackerman structure simulation automobile experiment platform.
Background
At present, unmanned technology is developing at a high speed, and a large amount of experiments are needed to obtain reliable data when the unmanned technology is researched. The existing unmanned simulation method mainly comprises three-dimensional modeling simulation and real-time data playback simulation. However, when a three-dimensional virtual simulation environment is established by three-dimensional modeling simulation, if software is adopted for automatic modeling, the established three-dimensional modeling precision is low, the rendering effect of the existing software is poor, the requirement on a computer is high, and the difference between simulation data and actual data is large. If real-time data playback simulation is used, a large number of sensors are required to measure the relevant data, and the simulation conditions are greatly limited. Therefore, the invention is very necessary to provide a simulation vehicle experiment platform which is close to the existing vehicle structure to meet the related experiments of the unmanned technique.
Disclosure of Invention
The invention aims to provide an Ackerman structure simulation vehicle experiment platform which is used for carrying out related experiments by simulating a vehicle unmanned technology.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows: the experimental platform comprises a bottom plate, a top plate is arranged above the bottom plate, and a laser radar and a camera are arranged above the top plate; a motor is arranged between the bottom plate and the top plate, the driving end of the motor is connected with a front differential mechanism and a rear differential mechanism, the output end of the front differential mechanism is in transmission fit with a pair of front wheels, and the output end of the rear differential mechanism is in transmission fit with a pair of rear wheels.
As a preferable technical scheme of the invention, the driving end of the motor is connected with a coupling through a universal shaft, the coupling is connected with the input end of a front differential mechanism, the front differential mechanism is fixed through a mounting plate arranged at the front end of a top plate, a front trapezoid fixing plate is arranged at the upper end of a machine body of the front differential mechanism, two front lower connecting plates are hinged at the lower end of the machine body of the front differential mechanism, a front shock absorber is hinged at the middle part of each front lower connecting plate, one end of the front shock absorber is hinged with the upper end of the front trapezoid fixing plate, the front end of the front lower connecting plate is hinged with the lower end of a connecting block, the upper end of the connecting block is hinged with a first pull rod, one end of the first pull rod is hinged with the upper end of the machine body of the front differential mechanism, a steering block is hinged with a steering block at the middle part of the connecting block, the side surface of the steering block is hinged with a steering rod, a rotating shaft is mounted in a matched manner at the middle part of the steering block, the rear end of the rotating shaft is connected with the output end of the front differential mechanism through a universal transmission rod, the other end of the steering block is hinged with the steering block, the middle part of the steering block is hinged with a bottom plate, a second steering block is hinged between the steering block is hinged with the steering block, one end of the steering block is hinged with the steering arm, and the steering arm is hinged with the steering wheel is arranged on the steering arm.
As a preferable technical scheme of the invention, the rear differential is arranged at the rear end of the bottom plate, the driving end of the motor is connected with the input end of the rear differential through a universal shaft, a rear trapezoid fixing plate is arranged on the rear differential, the lower end of a machine body of the rear differential is hinged with a rear lower connecting plate, the middle part of the rear lower connecting plate is hinged with a rear shock absorber, the upper end of the rear shock absorber is hinged with the upper end of the rear trapezoid fixing plate, the front end of the rear lower connecting plate is hinged with two fixing seats, the upper end of each fixing seat is hinged with a fourth connecting rod, one end of each fourth connecting rod is hinged with the upper end of the machine body of the rear differential, the rear wheels are rotatably arranged on the fixing seats, and the rear wheels are connected with the output end of the rear differential through the universal shaft.
As a preferable technical scheme of the invention, the front end and the rear end of the bottom plate and the top plate are respectively provided with an anti-collision plate.
As a preferable technical scheme of the invention, a protective shell is arranged above the top plate, and the laser radar and the camera are arranged on the protective shell.
The beneficial effects of the invention are as follows: the simulation car experimental platform with the Ackerman structure has the advantages of good experimental effect, high structural rationality and simple and reliable structure.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and do not constitute a limitation on the invention. In the drawings:
FIG. 1 is a top view of an Arkerman structure simulation car experiment platform of the invention;
fig. 2 is a schematic structural diagram of an ackerman structure simulation vehicle experimental platform according to the present invention;
fig. 3 is a schematic structural diagram of an ackerman structure simulation vehicle experimental platform with a top plate removed;
fig. 4 is a schematic structural view of an ackerman structural simulation vehicle experiment platform with a top plate, a front wheel and a rear wheel removed;
FIG. 5 is a side view of the layout of the front differential in an Arkeman constructed simulated vehicle test platform of the present invention;
fig. 6 is a schematic structural diagram of a front differential in an ackerman structure simulation vehicle experimental platform according to the present invention;
FIG. 7 is a bottom view of the front differential in an Arkerman structure simulation car test platform of the present invention;
fig. 8 is a top view of a front differential in an ackerman structure simulation vehicle test platform of the present invention.
In the figure: 1. the vehicle steering system comprises a bottom plate, a collision avoidance plate, a top plate, a protective shell, a laser radar, a camera, a rear wheel, a steering engine, a third connecting rod, a steering block, a motor, a steering rod, a second connecting rod, a mounting plate, a front differential, a coupling, a front trapezoid fixing plate, a front lower connecting plate, a front shock absorber, a first pull rod, a connecting block, a steering block, a rotary shaft, a universal transmission rod, a front wheel, a rear trapezoid fixing plate, a rear differential and a rear lower connecting plate, a rear shock absorber, a fourth connecting rod and a fixing seat.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.
In the description of the present invention, the description of the first and second is only for the purpose of distinguishing technical features, and should not be construed as indicating or implying relative importance or implying the number of technical features indicated or the precedence of the technical features indicated.
In the description of the present invention, unless explicitly defined otherwise, terms such as arrangement, installation, connection, etc. should be construed broadly and the specific meaning of the terms in the present invention can be reasonably determined by a person skilled in the art in combination with the specific contents of the technical scheme.
As shown in fig. 1 and fig. 4, the experimental platform of the ackerman structure simulation vehicle comprises a bottom plate 1, a top plate 3 is arranged above the bottom plate 1, a protective shell 4 is arranged above the top plate 3, and a laser radar 5 and a camera 6 are arranged on the protective shell 4; a motor 11 is arranged between the bottom plate 1 and the top plate 3, a driving end of the motor 11 is connected with a front differential 15 and a rear differential 27, a pair of front wheels 25 are matched with the output end of the front differential 15 in a transmission manner, and a pair of rear wheels 7 are matched with the output end of the rear differential 27 in a transmission manner; the front and rear ends of the bottom plate 1 and the top plate 3 are provided with anti-collision plates 2.
As shown in fig. 5 to 8, the driving end of the motor 11 is connected with the coupling 16 through a universal shaft, the coupling 16 is connected with the input end of the front differential 15, the front differential 15 is fixed through the mounting plate 14 arranged at the front end of the top plate 3, the front trapezoid fixing plate 17 is mounted at the upper end of the body of the front differential 15, the two front lower connecting plates 18 are hinged at the lower end of the body of the front differential 15, the front shock absorber 19 is hinged at the middle part of each front lower connecting plate 18, one end of the front shock absorber 19 is hinged with the upper end of the front trapezoid fixing plate 17, the front end of the front lower connecting plate 18 is hinged with the lower end of the connecting block 21, the upper end of the connecting block 21 is hinged with the first pull rod 20, one end of the first pull rod 20 is hinged with the upper end of the body of the front differential 15, the middle part of the connecting block 21 is hinged with the steering block 22, the side face of the steering block 22 is hinged with the steering rod 12, the middle part of the steering block 22 is provided with the rotating shaft 23, the front wheel 25 is rotatably arranged at the front end of the rotating shaft 23, the rear end of the rotating shaft 23 is hinged with the output end of the front differential 15 through the universal transmission rod 24, one end of the front connecting plate 12 is hinged with the steering wheel 10, the steering wheel 10 is hinged with the third bottom plate 9 is hinged with the steering wheel 10, and the third bottom plate 8 is hinged with the steering wheel 10 is hinged with the first bottom plate 9, and the steering wheel 9 is hinged with the third bottom plate 9.
Referring to fig. 1, a rear differential 27 is installed at the rear end of a base plate 1, a driving end of a motor 11 is connected with an input end of the rear differential 27 through a universal shaft, a rear trapezoid fixing plate 26 is installed on the rear differential 27, a rear lower connecting plate 28 is hinged to a lower machine body end of the rear differential 27, a rear shock absorber 29 is hinged to the middle of the rear lower connecting plate 28, an upper end of the rear shock absorber 29 is hinged to an upper end of the rear trapezoid fixing plate 26, two fixing seats 31 are hinged to a front end of the rear lower connecting plate 28, a fourth connecting rod 30 is hinged to an upper end of the machine body of the rear differential 27, and rear wheels 7 are rotatably installed on the fixing seats 31 and connected with an output end of the rear differential 27 through universal shafts.
According to the experimental platform of the ackerman structure simulation vehicle, provided by the invention, the surrounding environment of the vehicle can be detected through the camera and the laser radar arranged at the upper end of the protective shell 4, and the vehicle is controlled to complete related experiments such as automatic driving through the control panel arranged in the vehicle. The whole vehicle transmits power through a motor and front and rear differentials arranged front and rear, and realizes a steering function through the cooperation of a steering engine and corresponding connecting components, so that the running condition of the real vehicle is simulated to the greatest extent through ingenious structural combination, and a good experimental platform is provided for the research and development of unmanned technologies.
Therefore, compared with the prior art, the ackerman structure simulation vehicle experimental platform has the advantages of good experimental effect, high structural rationality and simple and reliable structure.
While the foregoing description illustrates and describes several preferred embodiments of the invention, it is to be understood that the invention is not limited to the forms disclosed herein, but is not to be construed as limited to other embodiments, and is capable of use in various other combinations, modifications and environments and is capable of changes or modifications within the spirit of the invention described herein, either as a result of the foregoing teachings or as a result of the knowledge or skill of the relevant art. And that modifications and variations which do not depart from the spirit and scope of the invention are intended to be within the scope of the appended claims.
Claims (3)
1. The simulation car experiment platform with the Ackerman structure is characterized by comprising a bottom plate (1), wherein a top plate (3) is arranged above the bottom plate (1), and a laser radar (5) and a camera (6) are arranged above the top plate (3); a motor (11) is arranged between the bottom plate (1) and the top plate (3), a driving end of the motor (11) is connected with a front differential mechanism (15) and a rear differential mechanism (27), a pair of front wheels (25) are in transmission fit with the output end of the front differential mechanism (15), and a pair of rear wheels (7) are in transmission fit with the output end of the rear differential mechanism (27);
the driving end of the motor (11) is connected with a coupling (16) through a universal shaft, the coupling (16) is connected with the input end of a front differential mechanism (15), the front differential mechanism (15) is fixed through a mounting plate (14) arranged at the front end of a top plate (3), a front trapezoid fixing plate (17) is arranged at the upper end of a machine body of the front differential mechanism (15), two front lower connecting plates (18) are hinged at the lower end of the machine body of the front differential mechanism (15), a front shock absorber (19) is hinged at the middle part of each front lower connecting plate (18), one end of the front shock absorber (19) is hinged with the upper end of a front trapezoid fixing plate (17), the front end of the front lower connecting plate (18) is hinged with the lower end of a connecting block (21), the upper end of the connecting block (21) is hinged with a first pull rod (20), a steering block I (22) is hinged at the middle part of the connecting block (21), the side surface of the steering block I (22) is hinged with the steering rod (12), one end of the steering block I (22) is hinged with the rotating shaft (23) through a rotating shaft (23) which is matched with the front end (23) of the front differential mechanism (12), the front end of the steering rod (23) can be hinged with the rotating shaft (23) through the rotating shaft (23), the middle part of the steering block II (10) is hinged with the bottom plate (1), a second connecting rod (13) is hinged between the two steering blocks II (10), one end of the steering block II (10) is hinged with a third connecting rod (9), the other end of any third connecting rod (9) is hinged with a steering engine arm of the steering engine (8), and the steering engine (8) is arranged on the bottom plate (1);
the rear differential mechanism (27) is installed at the rear end of the bottom plate (1), the driving end of the motor (11) is connected with the input end of the rear differential mechanism (27) through a universal shaft, a rear trapezoid fixing plate (26) is installed on the rear differential mechanism (27), a rear lower connecting plate (28) is hinged to the lower end of a machine body of the rear differential mechanism (27), a rear shock absorber (29) is hinged to the middle of the rear lower connecting plate (28), the upper end of the rear shock absorber (29) is hinged to the upper end of the rear trapezoid fixing plate (26), two fixing seats (31) are hinged to the front end of the rear lower connecting plate (28), a fourth connecting rod (30) is hinged to the upper end of the machine body of the rear differential mechanism (27), and rear wheels (7) are rotatably installed on the fixing seats (31) and are connected with the output end of the rear differential mechanism (27) through the universal shaft.
2. The ackerman structure simulation car experiment platform according to claim 1, wherein the front and rear ends of the bottom plate (1) and the top plate (3) are provided with anti-collision plates (2).
3. The ackerman structure simulation car experiment platform according to claim 2, wherein a protective shell (4) is arranged above the top plate (3), and the laser radar (5) and the camera (6) are arranged on the protective shell (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111412765.2A CN114001982B (en) | 2021-11-25 | 2021-11-25 | Ackerman structure simulation car experiment platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111412765.2A CN114001982B (en) | 2021-11-25 | 2021-11-25 | Ackerman structure simulation car experiment platform |
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| Publication Number | Publication Date |
|---|---|
| CN114001982A CN114001982A (en) | 2022-02-01 |
| CN114001982B true CN114001982B (en) | 2024-03-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111412765.2A Active CN114001982B (en) | 2021-11-25 | 2021-11-25 | Ackerman structure simulation car experiment platform |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103979057A (en) * | 2014-04-11 | 2014-08-13 | 宁波莱姆格迪童车科技有限公司 | Suspension system for child automobile |
| CN108290075A (en) * | 2015-09-22 | 2018-07-17 | 特拉克赛卡斯公司 | The model vehicles of motor operation |
| CN108622190A (en) * | 2018-02-26 | 2018-10-09 | 北京克路德人工智能科技有限公司 | A kind of security robot front-wheel steer chassis |
| CN212290017U (en) * | 2020-05-19 | 2021-01-05 | 小驴机器人(武汉)有限公司 | Security robot chassis |
| CN212709651U (en) * | 2020-05-13 | 2021-03-16 | 青岛明多科技有限公司 | FPV electric formula racing car |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2019166861A (en) * | 2018-03-22 | 2019-10-03 | ヤマハ発動機株式会社 | vehicle |
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2021
- 2021-11-25 CN CN202111412765.2A patent/CN114001982B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103979057A (en) * | 2014-04-11 | 2014-08-13 | 宁波莱姆格迪童车科技有限公司 | Suspension system for child automobile |
| CN108290075A (en) * | 2015-09-22 | 2018-07-17 | 特拉克赛卡斯公司 | The model vehicles of motor operation |
| CN108622190A (en) * | 2018-02-26 | 2018-10-09 | 北京克路德人工智能科技有限公司 | A kind of security robot front-wheel steer chassis |
| CN212709651U (en) * | 2020-05-13 | 2021-03-16 | 青岛明多科技有限公司 | FPV electric formula racing car |
| CN212290017U (en) * | 2020-05-19 | 2021-01-05 | 小驴机器人(武汉)有限公司 | Security robot chassis |
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| Publication number | Publication date |
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| CN114001982A (en) | 2022-02-01 |
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