CN102837733A - Independent steering device - Google Patents
Independent steering device Download PDFInfo
- Publication number
- CN102837733A CN102837733A CN2012103495897A CN201210349589A CN102837733A CN 102837733 A CN102837733 A CN 102837733A CN 2012103495897 A CN2012103495897 A CN 2012103495897A CN 201210349589 A CN201210349589 A CN 201210349589A CN 102837733 A CN102837733 A CN 102837733A
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- connecting rod
- speed reduction
- reduction gearing
- retarder
- steering assembly
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- Power Steering Mechanism (AREA)
Abstract
The invention provides an independent steering device, which comprises a steering motor, a speed reducing mechanism, a steering knuckle, an upper cross arm and a connecting rod, wherein the steering motor is used for providing power for driving a wheel to rotate; the speed reducing mechanism is used for converting power output of the steering motor; the steering knuckle is used for supporting the speed reducing mechanism and driving the wheel to turn around the axis of a main pin; the upper cross arm is connected with the steering knuckle through an upper spherical hinge; the connecting rod is used for connecting a power output end of the speed reducing mechanism with the upper cross arm; the speed reducing mechanism comprises a speed reducer, a pinion and a bull gear; the steering motor is connected with the pinion through the speed reducer; the pinion is engaged with the bull gear; the bull gear is connected with the connecting rod; a shell of the speed reducer is connected with the steering knuckle; the speed reducer and the pinion are coaxially configured and arranged with the steering motor; and the bull gear is rotatablely supported against the shell of the speed reducer or the steering knuckle and the axis of the bull gear is overlapped with the axis of the main pin.
Description
Technical field
The present invention relates to the Vehicular turn technical field, particularly the steer-by-wire technical field specifically is meant a kind of independent steering assembly with big deflection angle characteristic.
Background technology
In recent years, be accompanied by the development of electric actuation techniques and line teach skill art, the high maneuverability elec. vehicle of integrated in-wheel motor and steer-by-wire system has obtained great concern.The independent steering assembly that adopts on this type of vehicle can be according to the requirement of ackerman angle, and each wheel of independent rotation is realized functions such as the center, original place turns to, fixes a point to turn to and walks crosswise, and has greatly expanded the manoevreability of vehicle in small space.
U.S. Pat 6561397B1 discloses a kind of independent steering assembly; It comprises the upper and lower transverse arm that an end is connected with the chassis, the other end is connected with turning rack; Turning rack can carry out bob with upper and lower transverse arm, but can not move forward and backward or rotate, and steering swivel is rotatably connected on the turning rack; On turning rack, also be provided with steer motor and speed reduction gearing thereof, its be connected with steering swivel through gear and transferring power to realize divertical motion.
U.S. Pat 6568697B1 discloses other a kind of independent steering assembly; It comprises that lower end and lower cross arm are through ball pivot is connected, upper end and shock attenuation unit are rotatably connected steering swivel; Shock attenuation unit is fixed on the chassis un-rotatably; Steer motor and speed reduction gearing thereof are arranged between shock attenuation unit and the steering swivel and are fixed in the lower end of shock attenuation unit, and its mouth is connected with the steering swivel upper end and turns to transferring power.
U.S. Pat 7204341B2 discloses other a kind of independent steering assembly; It comprises and is fixed in the terminal stub of vehicle bridge, and through the bearing steering swivel on stub that is rotatably connected, steer motor and speed reduction gearing thereof are arranged on the steering swivel; Its mouth and stub are affixed; The power of steer motor outputs on the stub after through speed reduction gearing, because stub is fixing rotatable, its reactive torque promotes steering swivel and rotates.
U.S. Patent application US2007/0045036A1 discloses a kind of independent steering assembly, and it comprises steer motor and the speed reduction gearing thereof that is arranged on the main pin axis, especially, has disposed the constant-velocity universal joint output shaft at the speed reduction gearing mouth.This independent steering assembly is applicable to multiple suspension, and flexible for installation.When being used for double wishbone suspension; Can it be fixed in the steering swivel middle and lower part; Constant-velocity universal joint output shaft lower end is passed behind the lower cross arm protocorm pin-and-hole affixed, perhaps it is fixed in the downside of lower cross arm, and constant-velocity universal joint output shaft lower end is upward through behind the lower cross arm protocorm pin-and-hole affixed with the steering swivel bottom.
In above-mentioned technical scheme, the rotary actuator that has all adopted the output axis to overlap with main pin axis as long as members such as transverse arm, wheel do not interfere, can be realized-35 ° ~+95 ° big deflection angle scope in theory.But; Preceding two kinds of technical schemes need be carried out bigger modification to suspension, with form one can bob but rotatable support with fixing steering hardware; The third technical scheme needs real stub; Only be applicable to the dependent suspension vehicle bridge, the 4th kind of technical scheme adopted the constant-velocity universal joint output shaft, the structure more complicated.
Therefore, also exist the demand that a kind of independent steering assembly is provided, it is simple in structure, and is little to the suspension modification, does not need real stub, and ball pivot forms the double wishbone suspension of empty stub about being particularly suitable for adopting, and has big deflection angle characteristic.
Summary of the invention
The objective of the invention is provides a kind of independent steering assembly in order to overcome above-mentioned shortcoming of the prior art, and it is simple in structure; Revise little to suspension; Do not need real stub, ball pivot forms the double wishbone suspension of empty stub about being particularly suitable for adopting, and has big deflection angle characteristic.
The invention provides a kind of independent steering assembly, it comprises: steer motor is used to the power that provides drive wheels to turn to; Speed reduction gearing is used for the takeoff output of said steer motor is changed; Steering swivel is used to support said speed reduction gearing and turns to around main pin axis with the drive wheel; Top Crossbeam connects said steering swivel through last ball pivot; And connecting rod, be used to connect the clutch end and the said Top Crossbeam of said speed reduction gearing.
According to independent steering assembly of the present invention; Said speed reduction gearing comprises retarder, miniature gears and big gear wheel, and wherein, said steer motor connects said miniature gears through said retarder; The said big gear wheel of said pinion; Said big gear wheel connects said connecting rod, and the housing of said retarder is connected with said steering swivel, said retarder and said miniature gears and said steer motor arranged coaxial and layout; Said big gear wheel is supported on the housing or said steering swivel of said retarder rotationally, and its axis overlaps with main pin axis.
According to independent steering assembly of the present invention, the lower end of said connecting rod and the clutch end of said speed reduction gearing are affixed; And the upper end of said connecting rod and said Top Crossbeam are hinged, and wherein, hinge axes is perpendicular to main pin axis and intersect at said bulb center of going up ball pivot.
According to independent steering assembly of the present invention, described independent steering assembly also comprises angular transducer, is used to measure the deflection angle of wheel.
According to independent steering assembly of the present invention; When said steer motor is rotated; Power is delivered on the said connecting rod through the clutch end of said speed reduction gearing; Because said connecting rod is rotatable by said Top Crossbeam restriction, reactive torque just drives said steering swivel drive wheel and turns to around main pin axis.
Therefore, can obtain a kind of independent steering assembly according to the present invention, it is simple in structure, and is little to the suspension modification, does not need real stub, and ball pivot forms the double wishbone suspension of empty stub about being particularly suitable for adopting, and has big deflection angle characteristic.
Description of drawings
Fig. 1 is that the axle of the related independent steering assembly of embodiments of the invention is surveyed partial schematic sectional view;
Fig. 2 is that the axle that does not contain steering swivel of independent steering assembly shown in Figure 1 is surveyed partial schematic sectional view.
Among the figure: 1 steer motor; 2,21,22,23 is respectively speed reduction gearing, retarder, miniature gears and big gear wheel; 3 Top Crossbeams; 4 connecting rods; 5 steering swivels; Ball pivot on 6; 10 wheels; The A1 main pin axis; The A2 hinge axes; The last ball pivot bulb of C1 center.
The specific embodiment
In order more to be expressly understood technology contents of the present invention, the special following examples of lifting specify.Should be understood that embodiment is used to explain the present invention, rather than limitation of the present invention.
Fig. 1 and Fig. 2 are respectively that the axle survey partial schematic sectional view of the related independent steering assembly of embodiments of the invention and the axle that does not contain steering swivel 5 are surveyed partial schematic sectional view.See figures.1.and.2, the invention provides a kind of independent steering assembly, it comprises: steer motor 1 is used to the power that provides drive wheels 10 to turn to; Speed reduction gearing 2 is used for the takeoff output of steer motor 1 is changed; Steering swivel 5 is used to support speed reduction gearing 2 and turns to around main pin axis A1 with drive wheel 10; Top Crossbeam 3 connects steering swivel 5 through last ball pivot 6; And connecting rod 4, be used to connect the clutch end and the Top Crossbeam 3 of speed reduction gearing 2.
Speed reduction gearing 2 comprises retarder 21, miniature gears 22 and big gear wheel 23, and wherein, steer motor 1 connects miniature gears 22 through retarder 21; Miniature gears 22 engagement big gear wheels 23; Big gear wheel 23 connects connecting rod 4, and the housing of retarder 21 is connected with steering swivel 5, retarder 21 and miniature gears 22 and steer motor 1 arranged coaxial and layout; Big gear wheel 23 is supported on the housing or steering swivel 5 of retarder 21 rotationally, and its axis overlaps with main pin axis A1.
Because volume restrictions, steer motor more than 1 adopts the high-speed electric expreess locomotive of 100 ~ 200W to realize that in order to satisfy the requirement of cornering properties, its rotating speed must reduce.Therefore, need the bigger retarder 21 of coupling transmitting ratio.Harmonic speed reducer or the attainable transmitting ratio of multistage planet retarder are big, and can satisfy layout requirement.
The lower end of connecting rod 4 and big gear wheel 23 are affixed, and the upper end of connecting rod 4 and Top Crossbeam 3 are hinged, and wherein, hinge axes A2 is perpendicular to main pin axis A1 and intersect at the bulb center C 1 of ball pivot 6.
In order to realize turning to, the rotation of big gear wheel 23 must be limited therefore, must be connected to the parts that when wheel 10 turns to, do not rotate relatively, promptly on the Top Crossbeam 3 to produce the moment of reaction.Because during wheel 10 bobs, the angle between Top Crossbeam 3 and the steering swivel 5 also can change, therefore, must on Top Crossbeam 3, find the motionless axis of a relative steering swivel 5, come articulated linkage 4.Cross the bulb center C 1 of ball pivot 6 and can satisfy this requirement perpendicular to the axis A2 of main pin axis A1.
Independent steering assembly also comprises unshowned angular transducer, the deflection angle that it is used to measure wheel 10, feed back to control setup after, the adjustment steer motor 1 output, with the desired ackerman angle of accurate realization.Because the deflection angle scope of big gear wheel 23 and wheel 10 is consistent, therefore, near the angular transducer that is arranged on big gear wheel 23 can accurately be measured the deflection angle of wheel 10.
When steer motor 1 was rotated, power was delivered on the big gear wheel 23 through retarder 21 and miniature gears 22, because big gear wheel 23 is rotatable by connecting rod 4 restrictions, reactive torque just drives steering swivel 5 drive wheels 10 and turns to around main pin axis A1.
As stated, the independent steering assembly of the embodiment of the invention, it is simple in structure, and is little to the suspension modification, does not need real stub, and ball pivot forms the double wishbone suspension of empty stub about being particularly suitable for adopting, and has big deflection angle characteristic.
The present invention is not limited to the foregoing description, but the institute that covers under the situation that does not break away from the spirit and scope of the present invention to be carried out changes and revises.These changes and modification should not be considered to break away from the spirit and scope of the present invention, and all should be included in the scope of accompanying claims such as the modification that it will be apparent to those skilled in the art that.
Claims (5)
1. independent steering assembly, it comprises:
Steer motor is used to the power that provides drive wheels to turn to;
Speed reduction gearing is used for the takeoff output of said steer motor is changed;
Steering swivel is used to support said speed reduction gearing and turns to around main pin axis with the drive wheel;
Top Crossbeam connects said steering swivel through last ball pivot; And
Connecting rod is used to connect the clutch end and the said Top Crossbeam of said speed reduction gearing.
2. independent steering assembly according to claim 1 is characterized in that said speed reduction gearing comprises retarder, miniature gears and big gear wheel; Wherein, Said steer motor connects said miniature gears through said retarder, the said big gear wheel of said pinion, and said big gear wheel connects said connecting rod; The housing of said retarder is connected with said steering swivel; Said retarder and said miniature gears and said steer motor arranged coaxial and layout, said big gear wheel are supported on the housing or said steering swivel of said retarder rotationally, and its axis overlaps with main pin axis.
3. independent steering assembly according to claim 1 is characterized in that,
The lower end of said connecting rod and the clutch end of said speed reduction gearing are affixed; And
The upper end of said connecting rod and said Top Crossbeam are hinged, and wherein, hinge axes is perpendicular to main pin axis and intersect at said bulb center of going up ball pivot.
4. independent steering assembly according to claim 1 is characterized in that,
Described independent steering assembly also comprises angular transducer, is used to measure the deflection angle of wheel.
5. independent steering assembly according to claim 1 is characterized in that,
When said steer motor was rotated, power was delivered on the said connecting rod through the clutch end of said speed reduction gearing, because said connecting rod is rotatable by said Top Crossbeam restriction, reactive torque just drives said steering swivel drive wheel and turns to around main pin axis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210349589.7A CN102837733B (en) | 2012-09-18 | 2012-09-18 | Independent steering device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210349589.7A CN102837733B (en) | 2012-09-18 | 2012-09-18 | Independent steering device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102837733A true CN102837733A (en) | 2012-12-26 |
| CN102837733B CN102837733B (en) | 2015-05-20 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210349589.7A Expired - Fee Related CN102837733B (en) | 2012-09-18 | 2012-09-18 | Independent steering device |
Country Status (1)
| Country | Link |
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| CN (1) | CN102837733B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103832271A (en) * | 2014-02-27 | 2014-06-04 | 浙江工业大学之江学院工业研究院 | Independent drive independent steering mechanism of electric vehicle |
| CN106335542A (en) * | 2016-09-30 | 2017-01-18 | 南京航空航天大学 | Four-wheeled independent steering mechanism and working method |
| CN106741144A (en) * | 2016-12-23 | 2017-05-31 | 同济大学 | The Four wheel independent steering system that steering motor is placed on double wishbone suspension knuckle |
| CN106976368A (en) * | 2017-05-15 | 2017-07-25 | 厦门金龙联合汽车工业有限公司 | A kind of achievable independent suspension frame unit for turning to driving function |
| CN113524999A (en) * | 2021-09-07 | 2021-10-22 | 吉林大学 | Double-cross-arm suspension integrated with steering mechanism |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101631711A (en) * | 2007-04-19 | 2010-01-20 | 香港中文大学 | Independent suspension steering system |
| CN201484168U (en) * | 2009-08-21 | 2010-05-26 | 山东大学 | Integrative wheel assembly with independent driving, steering, hanging and braking |
| CN201670260U (en) * | 2010-05-07 | 2010-12-15 | 深圳职业技术学院 | Independent steering device and independent suspension system |
| WO2012026301A1 (en) * | 2010-08-25 | 2012-03-01 | Ntn株式会社 | Steer-by-wire steering system |
-
2012
- 2012-09-18 CN CN201210349589.7A patent/CN102837733B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101631711A (en) * | 2007-04-19 | 2010-01-20 | 香港中文大学 | Independent suspension steering system |
| CN201484168U (en) * | 2009-08-21 | 2010-05-26 | 山东大学 | Integrative wheel assembly with independent driving, steering, hanging and braking |
| CN201670260U (en) * | 2010-05-07 | 2010-12-15 | 深圳职业技术学院 | Independent steering device and independent suspension system |
| WO2012026301A1 (en) * | 2010-08-25 | 2012-03-01 | Ntn株式会社 | Steer-by-wire steering system |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103832271A (en) * | 2014-02-27 | 2014-06-04 | 浙江工业大学之江学院工业研究院 | Independent drive independent steering mechanism of electric vehicle |
| CN106335542A (en) * | 2016-09-30 | 2017-01-18 | 南京航空航天大学 | Four-wheeled independent steering mechanism and working method |
| CN106335542B (en) * | 2016-09-30 | 2018-08-03 | 南京航空航天大学 | Four-wheel independent steering gear and working method |
| CN106741144A (en) * | 2016-12-23 | 2017-05-31 | 同济大学 | The Four wheel independent steering system that steering motor is placed on double wishbone suspension knuckle |
| CN106976368A (en) * | 2017-05-15 | 2017-07-25 | 厦门金龙联合汽车工业有限公司 | A kind of achievable independent suspension frame unit for turning to driving function |
| CN113524999A (en) * | 2021-09-07 | 2021-10-22 | 吉林大学 | Double-cross-arm suspension integrated with steering mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102837733B (en) | 2015-05-20 |
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Granted publication date: 20150520 Termination date: 20210918 |
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| CF01 | Termination of patent right due to non-payment of annual fee |