CN110155171A - A kind of control method of vehicle chassis, vehicle and the vehicle chassis - Google Patents
A kind of control method of vehicle chassis, vehicle and the vehicle chassis Download PDFInfo
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- CN110155171A CN110155171A CN201910359974.1A CN201910359974A CN110155171A CN 110155171 A CN110155171 A CN 110155171A CN 201910359974 A CN201910359974 A CN 201910359974A CN 110155171 A CN110155171 A CN 110155171A
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- steeraxle
- car body
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- wheels
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- 238000000034 method Methods 0.000 title claims abstract description 28
- 238000006073 displacement reaction Methods 0.000 claims description 15
- 238000012544 monitoring process Methods 0.000 claims description 10
- 239000000523 sample Substances 0.000 claims description 7
- 230000001133 acceleration Effects 0.000 claims description 3
- 230000008569 process Effects 0.000 abstract description 3
- 230000033001 locomotion Effects 0.000 description 9
- 230000009471 action Effects 0.000 description 6
- 230000000694 effects Effects 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 4
- 230000005484 gravity Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B35/00—Axle units; Parts thereof ; Arrangements for lubrication of axles
- B60B35/003—Steerable axles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/02—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides
- B62D11/04—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of separate power sources
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/80—Technologies aiming to reduce greenhouse gasses emissions common to all road transportation technologies
- Y02T10/86—Optimisation of rolling resistance, e.g. weight reduction
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The present invention provides a kind of vehicle chassis and its control method, vehicle chassis includes car body, control system, steeraxle and at least three dynamic wheels；Control system is connect with all dynamic wheel signals, for the velocity of rotation of all dynamic wheels to be monitored and controlled；Steeraxle includes steeraxle and two hub bearings for being located at steeraxle both ends, and steeraxle is rotationally connected with car body, can be freely rotated in the horizontal direction relative to car body any angle；Dynamic wheel is connected to car body or hub bearing, and the one-to-one connection of the hub bearing of at least two dynamic wheels and steeraxle is connected to rotation of the dynamic wheel of hub bearing for for steeraxle relative to car body and provides steering force.Vehicle chassis provided by the invention provides the steering force of vehicle chassis using dynamic wheel itself, the inner space and weight of occupancy greatly reduce, vehicle chassis bring car body deadweight in straight driving process is avoided, the carrying capacity and safety of vehicle are improved.
Description
Technical field
The invention belongs to motor vehicle technology field, in particular to a kind of vehicle chassis, the vehicle with the chassis and should
The control method of vehicle chassis.
Background technique
Traditional carrier vehicle chassis mostly uses greatly the forerunner of the driven by engine front-wheel steer of single power source to drive knot
Structure, and corresponding dynamic wheel is imparted power to by complicated deceleration system, transmission system, it is clear that such chassis structure
Complexity, steering power wheel in a non-operative state, can still occupy the inner space of biggish weight and car body.
Novel electronic class carriage chassis, for example (Automated Guided Vehicle, guides small some AGV automatically
Vehicle) in start using two wheel guide robot turn to chassis structure, but this kind of chassis necessarily require at least there are also 1 auxiliary it is universal driven
It takes turns, the gravity size pressed on the driven wheel has seriously affected control effect, when accelerating, is also easy to make driven wheel liftoff, car body
It overturns, to limit car body performance.
In addition, occurred the chassis that four-wheel is all power wheel at present to carry more load-carryings, although this chassis its
Carrying capacity is stronger, but because being to turn by force, be easy to causeing power wheel, laterally abrasion is more serious, and vehicle is finally caused to be difficult to efficiently
The operation of rate.
Summary of the invention
The purpose of the present invention is to provide a kind of vehicle chassis, it is intended to solve traditional vehicle chassis architecture complexity, occupy
The inner space of excessive weight and car body, movenent performance and the bad technical problem of safety.
The present invention provides a kind of vehicle chassis, including car body, control system, at least one steeraxle and at least three vehicles
Wheel；Wheel includes dynamic wheel and load-carrying carriage wheel；Control system is connect with all dynamic wheel signals；Each steeraxle rotation connection
In the bottom of car body, can be freely rotated around the shaft of rotation connection relative to car body any angle；Dynamic wheel rotation connection
In the bottom of car body, at least there are two dynamic wheel be can active steering control wheel, the both ends of each steeraxle company of rotation respectively
It is connected to a control wheel；Wherein, two control wheels on same steeraxle can generate rotational speed difference under control of the control system, turn
To bridge under control of the control system can driving direction active rotation according to rotational speed difference relative to car body, with this band motor vehicles bodies master
Turn to.
It is of the invention in one embodiment, each dynamic wheel includes wheel ontology and driving device, driving device
It is connected on wheel ontology, wheel ontology can be driven actively to rotate and connect with driving device signal can control dynamic wheel
Revolving speed.
It is of the invention in one embodiment, control system include attitude transducer, steering lock, angular transducer and
Speed probe；Attitude transducer is set to car body, for monitoring acceleration, deceleration and the car body of car body and the folder of horizontal plane
Angle；Steering lock is set at the rotation connection of steeraxle and car body, for limiting steering angle of the steeraxle relative to car body；Angle
Sensor is set at the rotation connection of steeraxle and car body, for monitoring steering angle of the steeraxle relative to car body；Revolving speed passes
Sensor is set on dynamic wheel, for monitoring the revolving speed of dynamic wheel.
It is of the invention in one embodiment, there are two steeraxle is set, two steeraxles are one in front and one in back arranged；Steeraxle
For bar shaped, the rotating joint of steeraxle and car body is located at the middle part of steeraxle；There are four control wheel is set, each control wheel rotation connects
The both ends of steeraxle are connected to, two dynamic wheels for connecting the same steeraxle are coaxial always.
It is of the invention in one embodiment, there are two steeraxle is set, two steeraxles are one in front and one in back arranged, control wheel
There are four if；Steeraxle includes connecting rod and two knuckle arms, and wherein one end of two knuckle arms is hinged with connecting rod respectively,
The other end of two knuckle arms is separately connected control wheel, and the middle part of two knuckle arms is rotatablely connected with car body.
It is of the invention in one embodiment, there are two steeraxle is set, two steeraxles are one in front and one in back arranged, control wheel
There are four if；Vehicle chassis further includes support bridge and load-carrying carriage wheel, and load-carrying carriage wheel is connected to the bottom of car body, institute by support bridge
There is the axial direction of load-carrying carriage wheel parallel.
Another aspect of the present invention provides a kind of vehicle including vehicle chassis as described above.
The present invention also provides a kind of control methods suitable for vehicle chassis as described above, turn for controlling car body
To, comprising the following steps:
S101: control system issues steering order, and two control wheels for connecting the same steeraxle are produced according to steering order
Raw rotational speed difference；
S102: according to the rotational speed difference of corresponding two control wheel, each steeraxle deflects pair within a predetermined range relative to car body
The steering angle answered, wherein when steeraxle is multiple, the steering angle of all steeraxle rotations is different, the rotation of all control wheels
Axis intersects at turning center point；
S103: car body is around steering centre-point steering；
S104: by the control of control system, two control wheels for connecting the same steeraxle generate rotational speed difference, steeraxle
It is turned to relative to car body, until the driving direction for being axially perpendicular to car body of all dynamic wheels.
The present invention also provides a kind of control methods suitable for vehicle chassis as described above, for controlling car body side position
It moves, comprising the following steps:
S201: control system issues steering order, and two control wheels for connecting the same steeraxle are produced according to steering order
Raw rotational speed difference；
S202: according to the rotational speed difference of corresponding two control wheels, each steeraxle deflects correspondence relative to car body within a predetermined range
Steering angle, wherein two steeraxles rotation steering angle it is identical, the rotary shaft of all dynamic wheels is parallel；
S203: car body is displaced along the direction vertical with rotary shaft；
S204: by the control of control system, two control wheels for connecting the same steeraxle generate rotational speed difference, steeraxle
It is turned to relative to car body, until steeraxle is diverted to the central axes direction of all control wheel car bodies relative to car body.
The present invention also provides a kind of control methods suitable for vehicle chassis as described above, for controlling car body with certainly
Balanced mode operation, comprising the following steps:
S301: control system issues steering order, and two control wheels for connecting the same steeraxle are produced according to steering order
Raw rotational speed difference；
S302: according to the rotational speed difference of corresponding two control wheels, each steeraxle deflects correspondence relative to car body within a predetermined range
Steering angle, wherein two steeraxles rotation steering angle it is identical, the rotation overlapping of axles of all dynamic wheels；
S303: car body is moved along the direction self-balancing vertical with rotary shaft；
S304: by the control of control system, two control wheels for connecting the same steeraxle generate rotational speed difference, steeraxle
It is turned to relative to car body, until steeraxle is diverted to the central axes direction of all control wheel car bodies relative to car body.
Vehicle chassis provided in an embodiment of the present invention at least has following advantageous effects:
Vehicle chassis provided by the invention is connected to same turn using control system control when vehicle needs to turn to
Differential rotation to two control wheels of bridge applies one to steeraxle by the frictional force difference between ground and two control wheels
A steering moment, drives steeraxle rotation, and the differential for stopping control wheel after steeraxle turns to target angle is rotated and locked
Steeraxle, and then control the go to action of vehicle.Turn to using steer drive or individually set compared to traditional
The scheme of steering motor is set, the inner space and weight that vehicle chassis provided by the invention occupies greatly reduce, and avoid
Vehicle chassis bring car body deadweight in straight driving process improves the load-carrying/car weight ratio and carrying capacity of vehicle；It compares
It is connected directly between the scheme on vehicle in traditional all dynamic wheels, it is directly strong by the rotational speed difference of control wheel to avoid vehicle
The case where system turning, the side-friction that wheel is subject to is reduced, the service life of dynamic wheel is extended, improved vehicle and turn
Operation stability and safety during curved.
Detailed description of the invention
Fig. 1 is the schematic perspective view of the vehicle chassis provided in the embodiment of the present invention；
Fig. 2 is the explosive view of Fig. 1；
Fig. 3 is the schematic perspective view of the vehicle chassis steering pattern provided in the embodiment of the present invention；
Fig. 4 is that the schematic perspective view of the side displacement model of vehicle chassis is provided in the embodiment of the present invention；
Fig. 5 is that the schematic perspective view of the self-balancing mode of vehicle chassis is provided in the embodiment of the present invention；
Fig. 6 is the schematic diagram provided when the steeraxle of vehicle chassis is divided into multistage in the embodiment of the present invention.
Label detail involved in above-mentioned each attached drawing is as follows:
100- car body；200- steeraxle；211- connecting rod；212- knuckle arm；220- hub bearing；300- power car
Wheel；410- angular transducer.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that described herein, specific examples are only used to explain the present invention, not
For limiting the present invention.
It should be noted that when component is referred to as " being fixed on " or " being set to " another component, it can directly or
It connects and is located on another component.When a component referred to as " is connected to " another component, it be can be directly or indirectly
It is connected on another component.Term " on ", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "top",
The orientation or position of the instructions such as "bottom", "inner", "outside" are orientation based on the figure or position, are merely for convenience of describing,
It should not be understood as the limitation to the technical program.Term " first ", " second " are used merely to facilitate description purpose, and should not be understood as
Indication or suggestion relative importance or the quantity for implicitly indicating technical characteristic.The meaning of " plurality " is two or more,
Unless otherwise specifically defined.
In order to illustrate technical solutions according to the invention, it is described in detail below in conjunction with specific accompanying drawings and embodiments.
Please refer to Fig. 1 to Fig. 6, the present invention provides a kind of vehicle chassis, including car body 100, control system, at least one
Steeraxle 200 and at least three wheels；Wheel includes dynamic wheel 300 and load-carrying carriage wheel；Control system and all dynamic wheels
The connection of 300 signals；Each steeraxle 200 is rotationally connected with the bottom of car body 100, can around rotation connection shaft relative to car body
100 any angles are freely rotated；Dynamic wheel 300 is rotationally connected with the bottom of car body 100, and at least there are two dynamic wheels 300
For the control wheel of energy active steering, the both ends of each steeraxle 200 are rotatably connected to a control wheel respectively；Wherein, same steering
Two control wheels on bridge 200 can generate rotational speed difference under control of the control system, and steeraxle 200 is under control of the control system
Can driving direction active rotation according to rotational speed difference relative to car body 100, with this band 100 active steering of motor vehicles bodies.
Specifically, vehicle chassis provided in an embodiment of the present invention works in this way:
Control system real-time monitoring and the revolving speed for controlling all dynamic wheels 300, it is straight when driving, all dynamic wheels
300 synchronized rotations in the same direction；When vehicle needs to turn to, control system controls two power for being connected to the same steeraxle 200
The differential of wheel 300 rotates, in this way, the frictional force between ground and two dynamic wheels 300 has differences, steeraxle 200 by
Effect and rotation to a steering moment lock steeraxle 200 after steeraxle 200 turns to target angle, turn at this time
The axial direction of dynamic wheel 300 on bridge 200 and the direction of advance out of plumb of car body 100, so it is dynamic around institute with motor vehicles bodies 100
The crosspoint of 300 axial direction of wheel carries out go to action；After go to action, control system again secondary control be connected to it is same
The differential of two dynamic wheels 300 of a steeraxle 200 rotates, also with rubbing between ground and two dynamic wheels 300
Power difference is wiped, 200 1 steering moments of steeraxle is given and promotes its rotation, until the axial direction and vehicle row of dynamic wheel 300
Vertical into direction, vehicle returns to the state of straight traveling.
The beneficial effect of vehicle chassis provided in an embodiment of the present invention is:
Vehicle chassis provided by the invention is connected to same turn using control system control when vehicle needs to turn to
Differential rotation to two dynamic wheels 300 of bridge 200, passes through the frictional force difference between ground and two dynamic wheels 300
One steering moment is applied to steeraxle 200, drives steeraxle 200 to rotate, stops after steeraxle 200 turns to target angle
The differential of dynamic wheel 300 rotates and locks steeraxle 200, and then controls the go to action of vehicle, compared to traditional utilization
Steer drive is turned to or is separately provided the scheme of steering motor, the vehicle that vehicle chassis provided by the invention occupies
Inner space and weight greatly reduce, and avoid 100 deadweight of vehicle chassis bring car body in straight driving process, improve vehicle
Load-carrying/car weight ratio and carrying capacity；The side on trolley is connected directly between compared to traditional all dynamic wheels 300
Case avoids the case where trolley directly forces turning by the rotational speed difference of dynamic wheel 300, reduces the transverse direction that wheel is subject to and rub
Power is wiped, the service life of dynamic wheel 300 is extended, improves the operation stability during trolley is turned and safety.
As a preferred embodiment of the embodiment of the present invention, steeraxle 200 can surround rotating joint 360 degrees omnidirection
It rotates freely, control system controls the rotational speed difference of dynamic wheel 300, and dynamic using two be connected on a steeraxle 200
The rotation of the frictional force difference control steeraxle 200 on power wheel 300 and ground, in this way, control system vehicle according to actual needs
After the case where steering determines optimal operating scheme, the direction of rotation execution that can flexibly, easily control steeraxle 200 is optimal
Operating scheme and vehicle operating modes, to improve vehicle for the adaptability in various spaces, landform scene.
As a preferred embodiment of the embodiment of the present invention, all dynamic wheels 300 are connected to vehicle by hub bearing 220
On body 100 or steeraxle 200, control system accurately controls the speed of all dynamic wheels 300, specifically, when vehicle is straight
When mobile, the steering shaft of all dynamic wheels 300 is parallel, and the revolving speed of all dynamic wheels 300 is equal；When Vehicular turn, institute
The rotation axis of dynamic wheel 300 intersects at or approximation intersects at a turning center point, the revolving speed of all dynamic wheels 300 with
The dynamic wheel 300 is directly proportional at a distance from the point of turning center；When steeraxle 200 rotates, control system is by controlling this turn
Two 300 differentials of dynamic wheel rotation on bridge 200, to control the rotation of steeraxle 200, the advance side of dynamic wheel 300
Angle is generated to the direction of advance of car body 100, so that the switching of vehicle sport mode is turned to or realized with motor vehicles bodies 100.
As a preferred embodiment of the embodiment of the present invention, after steeraxle 200 turns to target angle, control system is logical
Locking of the revolving speed realization for accurately controlling each dynamic wheel 300 to steeraxle 200 is crossed, specifically, control system control is all
The revolving speed of dynamic wheel 300 is directlyed proportional at a distance from the dynamic wheel 300 and turning center point, in this way, when steeraxle 200 is opposite
When the angle of car body 100 is not predetermined angle, due to the rotational speed difference between dynamic wheel 300, steeraxle 200 will receive one
The effect of torque, the torque are a negative-feedback, 200 meeting of steeraxle for the angle of car body 100 for steeraxle 200
Predetermined angle is diverted under the action of the torque.Certainly, optionally, it is provided at steeraxle 200 and 100 rotation connection of car body
Retaining mechanism, after steeraxle 200 turns to target angle, retaining mechanism locks the relative angle of steeraxle 200 and car body 100
Degree, car body 100 are turned to around the crosspoint of all 300 axial directions of power wheel；After go to action, retaining mechanism releases lock
Fixed, steeraxle 200 is since the differential of control wheel rotates effect and rotation by steering moment, until all dynamic wheels 300
Axial direction it is vertical with vehicle traveling direction, retaining mechanism can by the rotation of steeraxle 200 to being locked to it after target angle,
Unstability due to road conditions are poor during Vehicular turn of steeraxle 200 is prevented, the steady of vehicle chassis operation is further increased
It is qualitative.
Please refer to Fig. 1 to Fig. 6, it is of the invention in one embodiment, each dynamic wheel 300 include wheel ontology and
Driving device, driving device are connected on wheel ontology, wheel ontology can be driven actively to rotate and connect with driving device signal
Can control the revolving speed of dynamic wheel 300.
In one concrete scheme of the embodiment of the present invention, driving device is brushless hub electric motor, and dynamic wheel 300 uses nothing
Brush hub motor provides rotational power, in this way, vehicle no longer needs complicated transmission system that power is transferred to each power
Wheel 300, but power device, transmission device and brake apparatus are integrated into inside dynamic wheel 300, to enormously simplify
The mechanical structure of vehicle reduces the overall weight of vehicle, improves the lifting capacity of vehicle.
As a preferred embodiment of the embodiment of the present invention, control system includes control circuit board and energizes for control system
Control power-supply system, control circuit board for accurately control brushless hub electric motor rotation speed, to accurately control power
The revolving speed of wheel 300 is to realize the operation and steering of vehicle chassis；Optionally, control circuit board and control power-supply system are mounted on
On car body 100 or on steeraxle 200.
Referring to FIG. 1 to FIG. 4, it is of the invention in one embodiment, control system include attitude transducer, turn to
Lock, angular transducer 410 and speed probe；Attitude transducer is set to car body 100, for monitor car body 100 acceleration,
The angle of deceleration and car body 100 and horizontal plane；Steering lock is set at the rotation connection of steeraxle 200 and car body 100, is used for
Limit steering angle of the steeraxle 200 relative to car body 100；Angular transducer 410 is set to turn of steeraxle 200 and car body 100
Dynamic junction, for monitoring steering angle of the steeraxle 200 relative to car body 100；Speed probe is set to dynamic wheel 300
On, for monitoring the revolving speed of dynamic wheel 300.
In one concrete scheme of the embodiment of the present invention, control system accurately monitors the movement of vehicle by attitude transducer
Posture accurately monitors the direction and speed of dynamic wheel 300, and then monitoring car by angular transducer 410 and speed probe
Operating status；Preferably, attitude transducer is the combination of gyroscope and accelerometer, the dynamic measurement precision of gyroscope
Height, accelerometer static measurement precision is high, the data that control system can be obtained according to gyroscope and accelerometer joint metering
Calculate the absolute angle in vehicle relative gravity direction；Preferably, speed probe uses Hall revolution speed transducer, hall sensing
Device is small in size, structure is simple, small power consumption, strong antijamming capability and can continuously measure, and is conducive to the weight for reducing measuring device
And power consumption, the transmission and control structure of further lightweight vehicle.
Embodiment one
Fig. 1 to Fig. 6 is please referred to, in embodiments of the present invention, there are two steeraxle 200 is set, two steeraxles 200 are one in front and one in back
Arrangement；Steeraxle 200 is bar shaped, and the rotating joint of steeraxle 200 and car body 100 is located at the middle part of steeraxle 200；Control wheel
If there are four, each control wheel is rotationally connected with the both ends of steeraxle 200, connects two dynamic wheels of the same steeraxle 200
300 is coaxial always.The operating mode of vehicle chassis includes steering pattern, side displacement model and self-balancing mode.
In the embodiment of the present invention, two steeraxles 200 are rotationally connected with 100 bottom of car body close to the position of central axes respectively
On, two steeraxles 200 are one in front and one in back arranged, can control former and later two steeraxles 200 when vehicle needs to turn to opposite
Direction rotates, and reduces the turning radius of vehicle；Also former and later two 200 rotating Vortexes of steeraxle be can control so that vehicle energy
Enough lateral displacements, improve flexibility of the vehicle in small space；Former and later two steeraxles 200 can also be controlled and turn to institute
Point-blank, vehicle enters self-balancing operating mode to the shaft of dynamic wheel 300.
In one concrete scheme of the embodiment of the present invention, vehicle chassis as described above is applied to vehicle such as AGV trolley etc.,
Two steeraxles 200 one in front and one in back arranged are provided on the chassis of vehicle, the both ends of each steeraxle 200 are provided with hub spindle
220 are held, the dynamic wheel 300 with hub motor is installed on hub bearing 220, connects the two of the same steeraxle 200
A dynamic wheel 300 is coaxial always, on the central axes on the chassis for being rotatably connected on vehicle in the middle part of the steeraxle 200 of steeraxle 200.
In this way, vehicle movement is extremely flexible, small space can be suitable for；Move Mode is abundant, to the adaptability in space and road conditions
It greatly promotes.More specifically, when the central axes on the chassis for being each perpendicular to vehicle when the shaft of all dynamic wheels 300, trolley
In linear motion mode, the steering of all dynamic wheels 300 is identical, and revolving speed is equal；Power car on current rear steering bridge 200
When straight line intersection locating for the shaft of wheel 300, trolley is in steering pattern, and turning center point is dynamic on front and back steeraxle 200
The intersection point of straight line locating for the shaft of power wheel 300, the revolving speed and dynamic wheel 300 of all dynamic wheels 300 and turning center
The distance of point is directly proportional；Referring to Fig. 4, the shaft of the dynamic wheel 300 on current rear steering bridge 200 is still not orthogonal in parallel
When the central axes of dolly chassis, trolley is in side displacement model, and the steering of all dynamic wheels 300 is identical, and revolving speed is equal, especially
Ground, referring to Fig. 5, trolley is in self-balancing mode when all 300 central axes of dynamic wheel are on the same line.
The another aspect of the embodiment of the present invention additionally provides a kind of suitable for steering pattern as described above, side displacement model
With the control method of self-balancing mode, wherein the control method of steering pattern includes:
S101: control system issues steering order, connects two control wheels of the same steeraxle 200 according to steering order
Generate rotational speed difference；
S102: according to the rotational speed difference of corresponding two control wheel, each steeraxle 200 relative to car body 100 within a predetermined range
Deflect corresponding steering angle, wherein when steeraxle 200 is multiple, the steering angle that all steeraxles 200 rotate is different, owns
The rotary shaft of control wheel intersects at turning center point；
S103: car body 100 is around steering centre-point steering；
S104: by the control of control system, two control wheels for connecting the same steeraxle 200 generate rotational speed difference, turn
It is turned to bridge 200 relative to car body 100, until the driving direction for being axially perpendicular to car body 100 of all dynamic wheels 300.
As a preferred embodiment of control method provided in an embodiment of the present invention, when vehicle needs to turn to, front and back two
A steeraxle 200 turns in the opposite direction, available in this way closer to the turning center of car body 100 point, reduces vehicle
Turning radius, vehicle more can turn to neatly in narrow space.
The control method of side displacement model includes:
S201: control system issues steering order, connects two control wheels of the same steeraxle 200 according to steering order
Generate rotational speed difference；
S202: according to the rotational speed difference of corresponding two control wheels, each steeraxle 200 is inclined within a predetermined range relative to car body 100
Turn corresponding steering angle, wherein the steering angle of two steeraxles 200 rotation is identical, and the rotary shaft of all dynamic wheels 300 is flat
Row；
S203: car body 100 is displaced along the direction vertical with rotary shaft；
S204: by the control of control system, two control wheels for connecting the same steeraxle 200 generate rotational speed difference, turn
It is turned to bridge 200 relative to car body 100, until control wheel is diverted in all control wheels and car body 100 relative to car body 100
Axis is vertical.
The control method of self-balancing mode includes:
S301: control system issues steering order, connects two control wheels of the same steeraxle 200 according to steering order
Generate rotational speed difference；
S302: according to the rotational speed difference of corresponding two control wheels, each steeraxle 200 is inclined within a predetermined range relative to car body 100
Turn corresponding steering angle, wherein the steering angle of two steeraxles 200 rotation is identical, the rotary shaft weight of all dynamic wheels 300
It closes；
S303: car body 100 is moved along the direction self-balancing vertical with rotary shaft；
S304: by the control of control system, two control wheels for connecting the same steeraxle 200 generate rotational speed difference, turn
It is turned to bridge 200 relative to car body 100, until steeraxle 200 is diverted to all control wheel car bodies 100 relative to car body 100
Central axes direction.
Embodiment two
Referring to Fig. 6, in the embodiment of the present invention, there are two steeraxle 200 is set, two steeraxles 200 are one in front and one in back arranged, control
There are four ratch is set；Steeraxle 200 includes connecting rod 211 and two knuckle arms 212, wherein one end of two knuckle arms 212
Hinged with connecting rod 211 respectively, the other end of two knuckle arms 212 is separately connected control wheel, and the middle part of two knuckle arms 212 is equal
It is rotatablely connected with car body 100.The operating mode of vehicle chassis includes steering pattern and side displacement model.
In the embodiment of the present invention, two steeraxles 200 are rotationally connected with 100 bottom of car body close to the position of central axes respectively
On, two steeraxles 200 are one in front and one in back arranged, can control former and later two steeraxles 200 when vehicle needs to turn to opposite
Direction rotates, and reduces the turning radius of vehicle；Also former and later two 200 rotating Vortexes of steeraxle be can control so that vehicle energy
Enough lateral displacements, improve flexibility of the vehicle in small space.
In one concrete scheme of the embodiment of the present invention, vehicle chassis as described above is applied to vehicle, the chassis of vehicle
On be provided with two steeraxles 200 one in front and one in back arranged, each steeraxle 200 is by two knuckle arms 212 and connection two
The connecting rod 211 of knuckle arm 212 forms；Knuckle arm 212 is L-shaped, and L-shaped one end connects connecting rod 211, other end connection
Hub bearing 220, dynamic wheel 300 are connected on hub bearing 220, are rotatably connected at the inflection point of L shape knuckle arm 212
On the central axes on the chassis of vehicle；Two dynamic wheels 300 for connecting the same steeraxle 200 are same in vehicle flat motion
Axis, when 200 phase of steeraxle turns to, two dynamic wheels 300 for connecting the same steeraxle 200 lose alignment.In this way, vehicle
Movement is extremely flexible, can be suitable for small space；Trolley can stablize side displacement without disequilibrium to any direction
Or enter self-balancing mode, have the ability of omnidirection side displacement.More specifically, when the shaft of all dynamic wheels 300
When being each perpendicular to the central axes on the chassis of vehicle, trolley is in linear motion mode, and the steering of all dynamic wheels 300 is identical,
Revolving speed is equal；When straight line approximation locating for the shaft of dynamic wheel 300 on current rear steering bridge 200 mutually gives a bit, trolley
In steering pattern, turning center point is the intersection of straight line approximation locating for the shaft of the dynamic wheel 300 on front and back steeraxle 200
Intersection point, the revolving speed and dynamic wheel 300 of all dynamic wheels 300 be directly proportional at a distance from the point of turning center；Current rear steering
When the shaft of dynamic wheel 300 on bridge 200 is parallel, trolley is in side displacement model, the steering phase of all dynamic wheels 300
Together, revolving speed is equal.
The another aspect of the embodiment of the present invention additionally provides a kind of suitable for steering pattern as described above and side displacement mould
The control method of formula, wherein the control method of steering pattern includes:
S101: control system issues steering order, connects two control wheels of the same steeraxle 200 according to steering order
Generate rotational speed difference；
S102: according to the rotational speed difference of corresponding two control wheel, each knuckle arm 212 is relative to car body 100 in preset range
The corresponding steering angle of intrinsic deflection, wherein when steeraxle 200 is multiple, the steering angle that all steeraxles 200 rotate is different, institute
There is the rotary shaft of control wheel to intersect at turning center point；
S103: car body 100 is around steering centre-point steering；
S104: by the control of control system, two control wheels for connecting the same steeraxle 200 generate rotational speed difference, turn
It is turned to joint arm 212 relative to car body 100, until the driving direction for being axially perpendicular to car body 100 of all dynamic wheels 300.
As a preferred embodiment of control method provided in an embodiment of the present invention, when vehicle needs to turn to, front and back two
A knuckle arm 212 turns in the opposite direction, available in this way closer to the turning center of car body 100 point, reduces vehicle
Turning radius, vehicle more can turn to neatly in narrow space.
The control method of side displacement model includes:
S201: control system issues steering order, connects two control wheels of the same steeraxle 200 according to steering order
Generate rotational speed difference；
S202: according to the rotational speed difference of corresponding two control wheels, each knuckle arm 212 relative to car body 100 within a predetermined range
Deflect corresponding steering angle, wherein the steering angle of two steeraxles 200 rotation is identical, and the rotary shaft of all dynamic wheels 300 is flat
Row；
S203: car body 100 is displaced along the direction vertical with rotary shaft；
S204: by the control of control system, two control wheels for connecting the same steeraxle 200 generate rotational speed difference, turn
It is turned to joint arm 212 relative to car body 100, until control wheel is diverted to all control wheels and car body 100 relative to car body 100
Central axes are vertical.
In embodiments of the present invention, particularly, when knuckle arm 212 is rotated by 90 °, due to and not all wheel it is all same
Axis, vehicle still can be run with side displacement model, and non-entry self-balancing mode.
Embodiment three
In embodiments of the present invention, there are two steeraxle 200 is set, two steeraxles 200 one in front and one in back arrange that control wheel is equipped with
Four；Vehicle chassis further includes support bridge and load-carrying carriage wheel, and load-carrying carriage wheel is connected to the bottom of car body 100, institute by support bridge
There is the axial direction of load-carrying carriage wheel parallel.The operating mode on the chassis of vehicle includes steering pattern.
In the embodiment of the present invention, two steeraxles 200 are rotationally connected with 100 bottom of car body close to the position of central axes respectively
On, two steeraxles 200 are one in front and one in back arranged, can control former and later two steeraxles 200 when vehicle needs to turn to opposite
Direction rotates, and reduces the turning radius of vehicle；The operation stability of car body 100 can be improved in additional support bridge and load-carrying carriage wheel
With lifting capacity.Preferably, load-carrying carriage wheel is the dynamic wheel 300 for being built-in with brushless hub electric motor, in this way, support bridge and load-carrying
Wheel can also provide additional power for the operation of car body 100.
In one specific embodiment of the embodiment of the present invention, vehicle chassis as described above is applied to vehicle, vehicle
It is connected with front steering axle 200, support bridge and rear steering bridge 200,200 He of front steering axle on chassis in turn from front to back along central axes
Rear steering bridge 200 is rotationally connected with dolly chassis, and support bridge is fixedly connected with dolly chassis.In this way, vehicle movement is extremely flexible,
It can be suitable for small space；Vehicle load ability enhancing simultaneously, vehicle movement are stablized, it is easier to be controlled.More specifically, when
When the central axes on the chassis that the shaft of all dynamic wheels 300 is each perpendicular to vehicle, trolley is in linear motion mode, Suo Youdong
The steering of power wheel 300 is identical, and revolving speed is equal；Straight line phase locating for the shaft of dynamic wheel 300 on current rear steering bridge 200
When friendship, trolley is in steering pattern, and turning center point is straight locating for the shaft of the dynamic wheel 300 on front and back steeraxle 200
The intersection point of line.Preferably, turning center point is always positioned on straight line locating for 300 axis of load-carrying dynamic wheel；Optionally, load-carrying
Hub motor by control system monitoring and control is installed in dynamic wheel 300, more sufficient move can be provided for trolley
Power further improves the lifting capacity of trolley.
The another aspect of the embodiment of the present invention additionally provides a kind of control method suitable for steering pattern as described above,
Wherein, the control method of steering pattern includes:
S101: control system issues steering order, connects two control wheels of the same steeraxle 200 according to steering order
Generate rotational speed difference；
S102: according to the rotational speed difference of corresponding two control wheel, each steeraxle 200 relative to car body 100 within a predetermined range
Deflect corresponding steering angle, wherein when steeraxle 200 is multiple, the steering angle that all steeraxles 200 rotate is different, owns
The rotary shaft of control wheel intersects at turning center point；
S103: car body 100 is around steering centre-point steering；
S104: by the control of control system, two control wheels for connecting the same steeraxle 200 generate rotational speed difference, turn
It is turned to bridge 200 relative to car body 100, until the driving direction for being axially perpendicular to car body 100 of all dynamic wheels 300.
S101: control system issues steering order, connects two dynamic wheels 300 of the same steeraxle 200 according to turning
Rotational speed difference is generated to instruction；
S102: each steeraxle 200 is deflected according to the rotational speed difference of corresponding two control wheels relative to car body 100 within a predetermined range
Corresponding steering angle, the steering angle that two steeraxles 200 rotate are different, wherein the rotary shaft of all dynamic wheels 300 intersects at
Turning center point；
S103: car body 100 is around steering centre-point steering；
S104: by the control of control system, two dynamic wheels 300 for connecting the same steeraxle 200 generate revolving speed
Difference, steeraxle 200 are turned to relative to car body 100, until the traveling side for being axially perpendicular to car body 100 of all dynamic wheels 300
To.
The object of the invention is also to provide it is a kind of include vehicle chassis as described above vehicle.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (10)
1. a kind of vehicle chassis, it is characterised in that: including car body, control system, at least one steeraxle and at least three wheels；
The wheel includes dynamic wheel and load-carrying carriage wheel；
The control system is connect with all dynamic wheel signals；
Each steeraxle is rotationally connected with the bottom of the car body, can appoint around the shaft of rotation connection relative to the car body
Meaning angle is freely rotated；
The dynamic wheel is rotationally connected with the bottom of the car body, is at least energy active steering there are two the dynamic wheel
Control wheel, the both ends of each steeraxle are rotatably connected to the control wheel respectively；
Wherein, two control wheels on the same steeraxle can generate rotational speed difference under the control of the control system,
The steeraxle can be rotated according to the rotational speed difference relative to the driving direction of the car body under the control of the control system,
The car body is driven to turn to this.
2. vehicle chassis as described in claim 1, it is characterised in that: each dynamic wheel includes wheel ontology and driving dress
It sets, the driving device is connected on the wheel ontology, the wheel ontology can be driven actively to rotate and fill with the driving
Confidence number is connected can control the revolving speed of the dynamic wheel.
3. vehicle chassis as claimed in claim 2, it is characterised in that: the control system include attitude transducer, steering lock,
Angular transducer and speed probe；
The attitude transducer is set to the car body, for monitor acceleration, deceleration and the car body of the car body with
The angle of horizontal plane；
The steering lock is set at the rotation connection of the steeraxle and the car body, for limit the steeraxle relative to
The steering angle of the car body；
The angular transducer is set at the rotation connection of the steeraxle and the car body, for monitoring the steeraxle phase
For the steering angle of the car body；
The speed probe is set on the dynamic wheel, for monitoring the revolving speed of the dynamic wheel.
4. vehicle chassis as described in any one of claims 1 to 3, it is characterised in that:
There are two the steeraxle is set, two steeraxles are one in front and one in back arranged；
The steeraxle is bar shaped, and the rotating joint of the steeraxle and the car body is located at the middle part of the steeraxle；
There are four the control wheel is set, each control wheel is rotationally connected with the both ends of the steeraxle, connects same described
Two dynamic wheels of steeraxle are coaxial always.
5. vehicle chassis as described in any one of claims 1-3, it is characterised in that:
There are two the steeraxle is set, two steeraxles are one in front and one in back arranged, there are four the control wheel is set；
The steeraxle includes connecting rod and two knuckle arms, wherein one end of two knuckle arms respectively with the connection
Bar is hinged, and the other end of two knuckle arms is separately connected the control wheel, the middle part of two knuckle arms with it is described
Car body rotation connection.
6. vehicle chassis as described in any one of claims 1-3, it is characterised in that:
There are two the steeraxle is set, two steeraxles are one in front and one in back arranged, there are four the control wheel is set；
The vehicle chassis further includes support bridge and load-carrying carriage wheel, and the load-carrying carriage wheel is connected to the vehicle by the support bridge
The axial direction of the bottom of body, all load-carrying carriage wheels is parallel.
7. a kind of vehicle, it is characterised in that: the vehicle includes vehicle chassis as claimed in any one of claims 1 to 6.
8. a kind of control method suitable for vehicle chassis as claimed in any one of claims 1 to 6, it is characterised in that: the control
Method processed is turned to for controlling the car body, comprising the following steps:
The control system issues steering order, connects two control wheels of the same steeraxle according to the steering
Instruction generates rotational speed difference；
According to the rotational speed difference of corresponding two control wheel, each steeraxle relative to the car body within a predetermined range
Deflect corresponding steering angle, wherein when the steeraxle is multiple, the steering angle of all steeraxle rotations is different, institute
There is the rotary shaft of the control wheel to intersect at turning center point；
The car body is turned to around the turning center point；
By the control of the control system, two control wheels for connecting the same steeraxle generate rotational speed difference, institute
It states steeraxle to turn to relative to the car body, until the traveling side for being axially perpendicular to the car body of all dynamic wheels
To.
9. a kind of control method suitable for vehicle chassis such as described in claim 5 or 6, it is characterised in that: the controlling party
Method is for controlling the car body side displacement, comprising the following steps:
The control system issues steering order, connects two control wheels of the same steeraxle according to the steering
Instruction generates rotational speed difference；
According to the rotational speed difference of corresponding two control wheels, each steeraxle is inclined within a predetermined range relative to the car body
Turn corresponding steering angle, wherein the steering angle of two steeraxle rotations is identical, and the rotary shaft of all dynamic wheels is flat
Row；
The car body is displaced along the direction vertical with the rotary shaft；
By the control of the control system, two control wheels for connecting the same steeraxle generate rotational speed difference, institute
It states steeraxle to turn to relative to the car body, until the steeraxle is diverted to all control wheel institutes relative to the car body
State the central axes direction of car body.
10. a kind of control method suitable for vehicle chassis as claimed in claim 5, it is characterised in that: the control method
For controlling the car body with self-balancing mode operation, comprising the following steps:
The control system issues steering order, connects two control wheels of the same steeraxle according to the steering
Instruction generates rotational speed difference；
According to the rotational speed difference of corresponding two control wheels, each steeraxle is inclined within a predetermined range relative to the car body
Turn corresponding steering angle, wherein the steering angle of two steeraxle rotations is identical, the rotary shaft weight of all dynamic wheels
It closes；
The car body is moved along the direction self-balancing vertical with the rotary shaft；
By the control of the control system, two control wheels for connecting the same steeraxle generate rotational speed difference, institute
It states steeraxle to turn to relative to the car body, until the steeraxle is diverted to all control wheel institutes relative to the car body
State the central axes direction of car body.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910359974.1A CN110155171A (en) | 2019-04-30 | 2019-04-30 | A kind of control method of vehicle chassis, vehicle and the vehicle chassis |
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|---|---|---|---|
| CN201910359974.1A CN110155171A (en) | 2019-04-30 | 2019-04-30 | A kind of control method of vehicle chassis, vehicle and the vehicle chassis |
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| CN201910359974.1A Pending CN110155171A (en) | 2019-04-30 | 2019-04-30 | A kind of control method of vehicle chassis, vehicle and the vehicle chassis |
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| CN111660724A (en) * | 2020-06-10 | 2020-09-15 | 安徽爱瑞特新能源专用汽车股份有限公司 | Front axle damping device for unmanned sweeping vehicle |
| CN112078659A (en) * | 2020-09-28 | 2020-12-15 | 中国农业大学 | Multi-wheel independent drive double-axle hinged chassis steering control method |
| CN114312142A (en) * | 2021-12-28 | 2022-04-12 | 江西鑫通机械制造有限公司 | Simple steering axle of mining trolley |
| US20220185421A1 (en) * | 2020-12-11 | 2022-06-16 | Hyundai Motor Company | Personal mobility and control method thereof |
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