CN106335542B - Four-wheel independent steering gear and working method - Google Patents
Four-wheel independent steering gear and working method Download PDFInfo
- Publication number
- CN106335542B CN106335542B CN201610868729.XA CN201610868729A CN106335542B CN 106335542 B CN106335542 B CN 106335542B CN 201610868729 A CN201610868729 A CN 201610868729A CN 106335542 B CN106335542 B CN 106335542B
- Authority
- CN
- China
- Prior art keywords
- steering
- wheel
- drive axle
- bindiny mechanism
- fuselage
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 238000000034 method Methods 0.000 title claims abstract description 7
- 230000005540 biological transmission Effects 0.000 claims description 21
- 239000003638 chemical reducing agent Substances 0.000 claims description 13
- 230000035939 shock Effects 0.000 claims description 9
- 230000000116 mitigating effect Effects 0.000 claims description 8
- 239000000725 suspension Substances 0.000 claims description 8
- 238000013016 damping Methods 0.000 claims description 4
- 230000003116 impacting effect Effects 0.000 claims description 2
- 238000012827 research and development Methods 0.000 abstract 1
- 238000005516 engineering process Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 239000006096 absorbing agent Substances 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
- B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
- B62D7/146—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by comprising means for steering by acting on the suspension system, e.g. on the mountings of the suspension arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G13/00—Resilient suspensions characterised by arrangement, location or type of vibration dampers
- B60G13/02—Resilient suspensions characterised by arrangement, location or type of vibration dampers having dampers dissipating energy, e.g. frictionally
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/22—Arrangements for reducing or eliminating reaction, e.g. vibration, from parts, e.g. wheels, of the steering system
- B62D7/228—Arrangements for reducing or eliminating reaction, e.g. vibration, from parts, e.g. wheels, of the steering system acting between the steering gear and the road wheels, e.g. on tie-rod
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Vehicle Body Suspensions (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
Abstract
The present invention relates to a kind of four-wheel independent steering gear and working methods, belong to automotive field.The mechanism includes stepper motor, retarder, speed reducing gear pair, steering drive axle, bradyseism spring, steering bindiny mechanism etc..The steering moment of motor is transmitted to steering drive axle by deceleration mechanism, and contact knuckle by ball provides steering moment for wheel set.The steering motor of the structure, retarder, which are integrated in, to be turned in bindiny mechanism.Structure of the invention is compact, and steering mechanism is novel, turns to flexibly, and the use of bradyseism spring improves the comfort and stability of vehicle traveling, while the research and development to four motorized wheels, independent brake and independent steering electric wheel truck and great significance for design.
Description
Technical field
The present invention relates to automotive fields, more particularly to a kind of four-wheel independent steering gear and working method.
Background technology
Along with the continuous development of new-energy automobile and intelligent automobile based on electric vehicle, more and more intelligence collection
It is applied to electric vehicle field at technology is changed, traditional automobile steering system gradually can not because of its complicated mechanical structure
Adapt to its increasingly integrated and intelligentized control method development need.
Domestic existing four-wheel independent steering technology at present is mostly driven by deceleration mechanism with independent steering motor and is turned to
Axis directly drives pivot stud, realizes large range of steering angle deflection.As Chinese patent literature CN103072627A is disclosed
A kind of electric chassis of four-wheel independent steering, structure are that stepper motor is connected to vehicle frame, stepping electricity by stepper motor seat
Machine is connect by flat key with turbine and worm decelerator, and turbine and worm decelerator is connect with steering shaft by shaft coupling, is turned to
Axis is coordinated by a pair of of taper roll bearing and steering column jacket, and steering column jacket is connect with Frame Welding, at the same steering shaft with it is electronic
Wheel hub is fixedly connected.Above-mentioned steering mechanism's arrangement span is larger, causes the global design of vehicle body more difficult, Shortcomings.
Invention content
The present invention is intended to provide a kind of four-wheel independent steering gear, is applied to four-wheel independent steering automobile.
A kind of four-wheel independent steering gear, it is characterised in that：Including turning to bindiny mechanism's fuselage and machine body cover；Turn to connection
Stepper motor is installed in mechanism fuselage, retarder, motor reducer assembly transmission gear, steering drive axle connection gear, is turned
To transmission shaft；The steering drive axle is installed on by a pair of of taper roll bearing and is turned in bindiny mechanism's fuselage, and transmission is turned to
Axis connection gear is installed on steering drive axle；The stepper motor is fixedly connected with bindiny mechanism fuselage is turned to, retarder with
The output shaft of stepper motor is connected；The motor reducer assembly transmission gear is engaged with steering drive axle connection gear；It is above-mentioned
The both ends of steering drive axle, which are stretched out, turns to bindiny mechanism's fuselage, and contacts slewing journal structure by ball and be connected to the upper of wheel set
Between lower connecting plate ear；Simultaneously positioned at turning between bindiny mechanism's fuselage and upper junction plate ear, bindiny mechanism's fuselage is turned to under
Bradyseism spring is mounted on steering drive axle between connecting plate ear；It turns to bindiny mechanism's fuselage and on the one hand passes through articulated manner
It is connect with automobile frame, hinge axes are vertical with steering drive axle axis；On the other hand pass through suspension shock mitigation system and automobile
Vehicle frame connects.
The working method of the four-wheel independent steering gear, it is characterised in that：The steering moment of the stepper motor passes through
Retarder, motor reducer assembly transmission gear, steering drive axle connection gear, steering drive axle are transmitted to wheel, realize vehicle
Rotate to；Suspension shock mitigation system provides the vibration damping in analysis of wheel vertical direction；Bradyseism spring coordinates the ball contact of steering drive axle to turn to
Wheel may be implemented when wheel is by larger side impacting force and swing axis is constant for section structure.
In above-mentioned four-wheel independent steering gear, the power unit includes that stepper motor, retarder, the stepper motor are solid
It is connected to the fuselage for turning to bindiny mechanism, is connect with the electronic control unit of electric vehicle, the rated power root of the stepper motor
It is determined according to whole-car parameters and mobility design requirement.
In above-mentioned four-wheel independent steering gear, stepper motor, retarder, decelerating through motor are integrated in the steering bindiny mechanism
Device assembly transmission gear, steering drive axle connection gear, steering drive axle, taper roll bearing, each compact connection of component, this turn
The driving dynamics of automobile can be transmitted to vehicle frame to bindiny mechanism, while can be moved up and down with relative frame, cooperation spring subtracts
Shake system buffer wheel is moved up and down in uneven road surface caused by vertical load, while the steering bindiny mechanism small volume,
Flexibly turning to for wheel may be implemented, each component connection is compact, and the global design of vehicle body is made to be more prone to.
In above-mentioned four-wheel independent steering gear, the power unit by motor reducer assembly drive gears turn to
Transmission shaft connection gear, applied widely, the transmission efficiency of the transmission power and speed of gear connection, compact-sized, work
Reliably.
In above-mentioned four-wheel independent steering gear, the steering drive axle is fixed on steering by a pair of of taper roll bearing and connects
In the fuselage of connection mechanism, taper roll bearing can bear big radial load and axial load, and bearing capacity is more preferable, turn to and pass
The upper and lower ends of moving axis respectively be vertically connected with plate ear by ball contact slewing journal structure connect, steering moment is transmitted to vehicle
Wheel.
In above-mentioned four-wheel independent steering gear, the bradyseism spring be located at turn to bindiny mechanism's fuselage and upper junction plate ear it
Between turn on steering drive axle between bindiny mechanism's fuselage and lower connecting plate ear, coordinate the ball contact slewing journal structure energy
Enough impacts of buffering wheel vertical force and lateral force when high speed or wide-angle turn to.
Bradyseism spring described in technical solution can play the role of level-one bradyseism, and cooperation suspension shock mitigation system constitutes two
Grade damping, the suspension shock mitigation system cooperation turn to the revolute pair of bindiny mechanism and vehicle frame, can meet wheel in uneven road surface
It is lower to be moved up and down caused by vertical load.
The present invention is a kind of four-wheel independent steering gear, and steering mechanism is novel, and each component connection is compact, turns to flexibly, can
To realize four-wheel independent steering, the global design of vehicle body is made to be more prone to, bradyseism spring coordinates ball to contact slewing journal structure, improves
The comfort and stability of vehicle traveling.Applied to four-wheel independent steering electric vehicle, in conjunction with line traffic control intelligent integrated control technology,
It can not only realize good turning function and steering characteristic, meanwhile, it is the integrated development of chassis electric-control system and intelligent hair
Exhibition provides physically better platform.
Description of the drawings
Attached drawing 1 is the structural schematic diagram of the four-wheel mechanism of independent wheel control steering mechanism；
Attached drawing 2 is the lateral partial structurtes sectional view of the four-wheel mechanism of independent wheel control steering mechanism；
Attached drawing 3 is the top partial view diagram of the steering bindiny mechanism；
Figure label title：1 is to turn to bindiny mechanism fuselage, and 2 be vehicle frame, and 3 be telescopic shock absorber, and 4 be helical spring, 5
It is spring support seat, 6 be to turn to bindiny mechanism's machine body cover, and 7 be wheel set, and 8 be bradyseism spring, and 9 be upper junction plate ear, and 10 are
Stepper motor, 11 be retarder, and 12 be motor reducer assembly gear connection flat key, and 13 be to turn to bindiny mechanism's machine body cover spiral shell
Bolt, 14 be steering drive axle, and 15 be steering drive axle gear position limiting block, and 16 be machine body cover and fuselage gap adjusting washer, and 17 are
Taper roll bearing, 18 be lower connecting plate ear, and 19 be taper roll bearing location nut, and 20 be that the connection of steering drive axle gear is flat
Key, 21 be ball contact slewing journal structure, and 22 be motor reducer assembly gear shaft, and 23 be to turn to bindiny mechanism's body with vehicle frame to connect
Hole is connect, 24 be to turn to bindiny mechanism's threaded hole, and 25 be motor reducer assembly transmission gear, and 26 be steering drive axle tooth connection
Wheel.
Specific implementation mode
1,2,3 pair of technical solution provided by the invention is illustrated in more detail below in conjunction with the accompanying drawings, these embodiments
Practical structures and assembly situation is shown in the accompanying drawings and is described as follows.Other shapes can also be made on the basis of the present invention
The variation or change of formula can not also be exhaustive all embodiments herein.Any technological means of the present invention is replaced
Technical solution obtained from changing or being combined with each other any number of technical characteristics of the present invention is within protection scope of the present invention.
It is hinged with vehicle frame 2 as shown in Figure 1, turning to bindiny mechanism in the present embodiment, suspension shock mitigation system upper end and vehicle frame 2
Connection, lower end are connect with bindiny mechanism is turned to, and steering drive axle 14 is total by upper junction plate ear 9 and lower connecting plate ear 18 and wheel
At 7 connections, wheel hub motor and electric brake mechanism are integrated in the wheel set 7, Automobile drive power is by turning to bindiny mechanism
Driving moment is transmitted to vehicle frame 2, realizes that wheels travel, one wheel of independent driving of each stepper motor 10 pass through the company of steering
Steering moment is transmitted to wheel 7 by connection mechanism, realizes four-wheel independent steering.
As shown in Figures 2 and 3, it includes 6 two parts of fuselage 1 and machine body cover, machine body cover 6 to turn to bindiny mechanism in the present embodiment
It is bolted with fuselage 1, gap can be adjusted by adjusting washer 16, surplus is provided for the installation of steering drive axle 14, it is described
It turns to bindiny mechanism and integrates stepper motor 10, retarder 11, motor reducer assembly transmission gear 25, steering drive axle tooth connection
Wheel 26, steering drive axle 14, taper roll bearing 17, the stepper motor 10 are fixedly connected with bindiny mechanism's fuselage 1 is turned to, institute
It states motor reducer assembly transmission gear 25 to engage with steering drive axle connection gear 26, steering drive axle connection gear 26 passes through
Flat key 20 is connect with steering drive axle 14, and the steering drive axle 14 is consolidated by a pair of of taper roll bearing 17 by location nut 19
It is scheduled in the fuselage 1 for turning to bindiny mechanism, location nut 19 is threadedly coupled with the fuselage 1 for turning to bindiny mechanism, the stepping electricity
The steering moment of machine 10 is by retarder 11, motor reducer assembly transmission gear 25, steering drive axle connection gear 26, steering
Transmission shaft 14 is transmitted to wheel, realizes wheel steering.
As shown in Fig. 2, ball contact slewing journal structure 21 is by the end ball of steering drive axle 14 and upper in the present embodiment
Lower connecting plate ear two parts form, and arc channel suspending rail is equipped in the ball of end, and connecting plate ear interior design has hemispherical circular groove, turn
It, still can be steady when wheel is beated on uneven road surface to there are gaps between the end ball and connecting plate ear of transmission shaft 14
Surely torque is transmitted, the bradyseism spring 8 is used as first order shock-damping structure, including upper and lower two parts, the top of upper bradyseism spring
It is connect with upper junction plate ear 9, bottom is connected to the machine body cover 6 for turning to bindiny mechanism, and top and the steering of lower bradyseism spring connect
The fuselage 1 of mechanism connects, and bottom is connect with lower connecting plate ear 18, and cooperation ball contact knuckle 21 can both buffer wheel in high speed
Or the impact of wide-angle vertical force and lateral force when turning to, and wheel may be implemented and swing in the case that axis is constant.
When driver, which drives a car, to turn, give finished vehicle electronic control unit one turn signal by steering wheel rotation,
10 output torque of stepper motor is controlled, steering drive axle 14, the steering transmission are imparted power to by torque transmitting gear
The steering moment of axis 14 is transmitted to wheel set 7 by ball contact knuckle 21, realizes that wheel accurately turns to.
Claims (3)
1. a kind of four-wheel independent steering gear, it is characterised in that：
Including turning to bindiny mechanism's fuselage（1）And machine body cover（6）；Turn to bindiny mechanism's fuselage（1）Stepper motor is inside installed
（10）, retarder（11）, motor reducer assembly transmission gear（25）, steering drive axle connection gear（26）, steering drive axle
（14）；
The steering drive axle（14）Pass through a pair of of taper roll bearing（17）It is installed on and turns to bindiny mechanism's fuselage（1）It is interior, turn
To transmission shaft connection gear（26）It is installed on steering drive axle（14）On；The stepper motor（10）With steering bindiny mechanism fuselage
（1）It is fixedly connected, retarder（11）With stepper motor（10）Output shaft be connected；The motor reducer assembly transmission gear
（25）With steering drive axle connection gear（26）Engagement；
Above-mentioned steering drive axle（14）Both ends stretch out and turn to bindiny mechanism fuselage（1）, and slewing journal structure is contacted by ball
（21）It is connected to wheel set（7）Be vertically connected between plate ear；Simultaneously positioned at steering bindiny mechanism fuselage（1）With upper junction plate
Ear（9）Between, turn to bindiny mechanism's fuselage（1）With lower connecting plate ear（18）Between steering drive axle（14）On be mounted on it is slow
Shake spring（8）；
Turn to bindiny mechanism's fuselage（1）On the one hand pass through articulated manner and automobile frame（2）Connection, hinge axes are passed with steering
Moving axis（14）Axis is vertical；On the other hand pass through suspension shock mitigation system and automobile frame（2）Connection.
2. four-wheel independent steering gear according to claim 1, it is characterised in that：
Above-mentioned suspension shock mitigation system includes cartridge type retarder（3）And it is placed on cartridge type retarder（3）Outer helical spring（4）.
3. the working method of four-wheel independent steering gear according to claim 1, it is characterised in that：
The stepper motor（10）Steering moment pass through retarder（11）, motor reducer assembly transmission gear（25）, turn to
Transmission shaft connection gear（26）, steering drive axle（14）It is transmitted to wheel, realizes wheel steering；
Suspension shock mitigation system provides the vibration damping in analysis of wheel vertical direction；
Bradyseism spring（8）Coordinate steering drive axle（14）Ball contact slewing journal structure（21）, may be implemented wheel by compared with
Swinging in the case of wheel axis is constant when big side impacting force.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610868729.XA CN106335542B (en) | 2016-09-30 | 2016-09-30 | Four-wheel independent steering gear and working method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610868729.XA CN106335542B (en) | 2016-09-30 | 2016-09-30 | Four-wheel independent steering gear and working method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106335542A CN106335542A (en) | 2017-01-18 |
| CN106335542B true CN106335542B (en) | 2018-08-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610868729.XA Active CN106335542B (en) | 2016-09-30 | 2016-09-30 | Four-wheel independent steering gear and working method |
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| CN (1) | CN106335542B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP7037315B2 (en) * | 2017-09-27 | 2022-03-16 | Ntn株式会社 | Hub unit with steering function and vehicles equipped with it |
| JP6567633B2 (en) | 2017-11-28 | 2019-08-28 | Ntn株式会社 | Hub unit with steering function and vehicle equipped with the same |
| JP7244994B2 (en) * | 2018-03-27 | 2023-03-23 | Ntn株式会社 | Hub unit with steering function, steering system, and vehicle equipped with hub unit with steering function |
| CN110481632B (en) * | 2019-07-06 | 2020-07-17 | 清华大学 | Drive-by-wire independent steering actuating mechanism based on multiphase motor drive |
| KR20230060647A (en) * | 2021-10-28 | 2023-05-08 | 현대자동차주식회사 | Independent Corner Module |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5078018A (en) * | 1990-04-04 | 1992-01-07 | Atsugi Unisia Corporation | Rear wheel steering mechanism for motor vehicle |
| CN201484168U (en) * | 2009-08-21 | 2010-05-26 | 山东大学 | Integrative wheel assembly with independent driving, steering, hanging and braking |
| CN102837733A (en) * | 2012-09-18 | 2012-12-26 | 上海中科深江电动车辆有限公司 | Independent steering device |
| CN103072627A (en) * | 2013-01-23 | 2013-05-01 | 中国农业大学 | Electric chassis with four independent turning wheels |
| CN204978142U (en) * | 2015-09-22 | 2016-01-20 | 河南速达电动汽车科技有限公司 | Vibration energy who takes four wheel steering function retrieves suspension |
| CN206125145U (en) * | 2016-09-30 | 2017-04-26 | 南京航空航天大学 | Four -wheel independent steering device mechanism |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SE526090C2 (en) * | 2002-08-14 | 2005-07-05 | Volvo Lastvagnar Ab | Control device, vehicle and method for controlling vehicles |
-
2016
- 2016-09-30 CN CN201610868729.XA patent/CN106335542B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5078018A (en) * | 1990-04-04 | 1992-01-07 | Atsugi Unisia Corporation | Rear wheel steering mechanism for motor vehicle |
| CN201484168U (en) * | 2009-08-21 | 2010-05-26 | 山东大学 | Integrative wheel assembly with independent driving, steering, hanging and braking |
| CN102837733A (en) * | 2012-09-18 | 2012-12-26 | 上海中科深江电动车辆有限公司 | Independent steering device |
| CN103072627A (en) * | 2013-01-23 | 2013-05-01 | 中国农业大学 | Electric chassis with four independent turning wheels |
| CN204978142U (en) * | 2015-09-22 | 2016-01-20 | 河南速达电动汽车科技有限公司 | Vibration energy who takes four wheel steering function retrieves suspension |
| CN206125145U (en) * | 2016-09-30 | 2017-04-26 | 南京航空航天大学 | Four -wheel independent steering device mechanism |
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| Publication number | Publication date |
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| CN106335542A (en) | 2017-01-18 |
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