CN103213615B - Steering device capable of driving vertically and horizontally - Google Patents

Abstract

A steering device capable of running vertically and horizontally belongs to the technical field of mechatronics. Including wireless power transmission system, drive motor, steering motor, steering reducer, ECU, lateral travel switch, spherical wheel, etc. The wireless power transmission system provides electric energy for the drive motor and the steering motor. When turning, the torque sensor and the vehicle speed sensor send signals to the ECU, and the ECU controls the rotation of the steering motor. The output torque finally drives the spherical wheel to rotate through the steering reducer, steering shaft and support shaft. . The ECU judges the driving mode according to the vehicle speed signal. In the high-speed mode, only the two front wheels steer and the maximum wheel rotation angle is 40 degrees. In the low-speed mode, the steering mode is consistent with the high-speed mode when the lateral travel switch is not pressed. If the lateral travel switch is pressed, When the turning angle of the steering wheel is the largest, the four wheels turn at the same time and can reach the maximum turning angle of 90 degrees to realize lateral driving.

Description

A steering device capable of traveling vertically and horizontally

technical field

The invention relates to a steering device capable of traveling vertically and horizontally, and belongs to the technical field of mechatronics.

Background technique

The steering system is a device used to change or maintain the direction of driving or reversing of the car, and it can control the driving direction of the car according to the driver's wishes. The traditional electronically controlled steering assist system is composed of a mechanical steering mechanism, a torque sensor, an electromagnetic clutch, a deceleration mechanism, and an electric motor. The electric motor is used as the assist source, and the electronic control unit completes the assist control according to factors such as vehicle speed and steering parameters. turn.

At present, the maximum turning angle of the steering wheel of most automobile steering systems is about 40 degrees, and in many cases, the steering angle of the automobile needs to be increased, and even the translation of the automobile position can be realized, but the steering system of the existing automobile cannot meet the requirements. If the car achieves position translation, it needs a large steering space and good driving skills. Therefore, the existing automobile steering system is not conducive to the accurate and fast positioning of the automobile, and is inconvenient for the driver to operate.

At present, the power supply used in electric vehicles is mainly batteries, followed by fuel cells, so most of them use DC brushless motors. Due to the large inertia of the rotor, it is inconvenient to start and stop frequently, and the price is expensive, which limits its development. With the continuous development of production technology, the weak links of DC drive are gradually revealed.

Contents of the invention

The purpose of the present invention is to solve the above-mentioned problems and provide a new type of steering system in which the maximum rotation angle of the wheels can change with the speed of the vehicle, and the electric vehicle can realize vertical steering and lateral driving at low speeds. Main technical scheme of the present invention is as follows:

A steering device capable of vertical and horizontal driving, including a wireless power transmission system transmitter, a wheel wireless power transmission system receiver, a drive motor inverter, a drive motor, spherical wheels, a steering wheel, a torque sensor, ECU, a vehicle speed sensor, and a steering motor , Steering reducer, lateral travel switch, steering shaft, turbine, receiving end of steering system wireless power transmission system, steering motor frequency converter, worm, rolling bearing connecting steering shaft with support frame on chassis, support frame on chassis, positioning nut, The rolling bearing, supporting shaft, wheel rim, tire, and spoke connected by the steering shaft and the supporting shaft are characterized in that: the vehicle adopts a spherical wheel, and inside the spherical wheel, the drive motor, drive motor frequency converter and the receiving end of the wheel wireless power transmission system are the same Located on the horizontal axis of the wheel, the drive motor is an asynchronous motor, the outer rotor of the drive motor is connected to the spoke, and the other end of the spoke is connected to the rim of the spherical wheel, so that the rotation of the outer rotor of the drive motor can drive the wheel to roll forward; The outside of a spherical wheel is rigidly connected to the support shaft, the support shaft is located on the horizontal axis of the spherical wheel, the steering shaft is connected to the support shaft through a rolling bearing, and the rolling bearing connected to the steering shaft and the support shaft uses a shoulder on the side of the support shaft close to the wheel Axial positioning is performed on the side of the support shaft away from the wheel through a positioning nut, where the positioning nut is connected to the support shaft; the upper end of the steering shaft is connected to the turbine through a key, and the turbine is meshed with the worm at the output end of the steering reducer. The middle part of the steering shaft, the steering shaft is connected to the support frame on the chassis through rolling bearings; the power transmission mode of the electric vehicle is the wireless power transmission mode, the transmitter of the wireless power transmission system is installed on the chassis, the receiver of the wheel wireless power transmission system, The driving motor and the driving motor frequency converter are installed in the direction of the horizontal axis inside each wheel to provide electric energy for the driving motor of each spherical wheel to make the electric vehicle move forward.

The present invention compares the advantage of prior art:

1. The maximum turning angle of the vehicle can be selected according to the speed of the vehicle, which not only ensures the smooth steering of the electric vehicle at high speed, but also enables the electric vehicle to drive laterally at low speed and accurately locate within a limited time and space.

2. The wheels are driven independently. Under the same power demand, the power of a single motor can be distributed to multiple motors, which reduces the requirements for electrical and mechanical transmission components and facilitates design and production.

3. The four wheels are driven independently, omitting the traditional transmission system, improving the efficiency of mechanical transmission and increasing the space inside the car.

4. The wireless power transmission method is used for power transmission, the electric vehicle circuit becomes simple, and the trouble of arranging wires is omitted.

Description of drawings

Fig. 1 is an explanatory diagram of the power transmission route of the present invention.

Fig. 2 is an explanatory diagram of the steering system of the present invention.

Fig. 3 is an explanatory diagram of the structure of the spherical wheel of the present invention.

Detailed ways

Explanatory diagram of power transmission route (Figure 1)

1. The transmitter of the wireless power transmission system; 2. The receiver of the wheel wireless power transmission system; 3. The drive motor inverter; 4. The drive motor; 5. The spherical wheel;

Steering System Explanation Diagram (Figure 2)

6. Steering wheel; 7. Torque sensor; 8. ECU; 9. Vehicle speed sensor; 10. Steering motor; 11. Steering reducer; 12. Steering shaft; 13. Steering system wireless power transmission system receiver; 14. Steering motor Inverter; 15. Transverse travel switch;

Spherical Wheel Structure Explanation Diagram (Figure 3)

16. The rolling bearing connected to the steering shaft and the support frame on the chassis; 17. The support frame on the chassis; 18. The positioning nut; 19. The rolling bearing connected to the steering shaft and the support shaft; 20. The support shaft; 21. The rim; 22. The tire; 23, spoke; 24, turbine; 25, worm.

The present invention will be further described below in conjunction with the accompanying drawings of the embodiments.

As shown in Figures 1, 2, and 3, a steering device that can travel vertically and horizontally according to the present invention includes: a wireless power transmission system transmitter 1, a wheel wireless power transmission system receiver 2, a drive motor frequency converter 3, and a drive motor 4 , spherical wheel 5, steering wheel 6, torque sensor 7, ECU 8, vehicle speed sensor 9, steering motor 10, steering reducer 11, steering shaft 12, steering system wireless power transmission system receiving end 13, steering motor inverter 14, lateral driving Switch 15, rolling bearing 16 connected to the steering shaft and support frame on the chassis, support frame 17 on the chassis, positioning nut 18, rolling bearing 19 connected to the steering shaft and support shaft, support shaft 20, rim 21, tire 22, spoke 23, turbine 24, worm 25.

The specific working process of the system is as follows: The transmitter 1 of the wireless power transmission system on the chassis converts the electrical signal into an electromagnetic wave signal, modulates and amplifies it, and transmits it with a certain amplitude and frequency. After being reflected by the ion layer, it is transmitted by the wheel wireless power The receiving end 2 of the system receives, and the receiving end 2 of the wheel wireless power transmission system uses an electromagnetic conversion device to convert the received electromagnetic wave into an alternating current signal. Current, the outer rotor of the drive motor 4 drives the spherical wheel rim 21 to rotate together through the spokes 23, so that the spherical wheel 5 rotates and drives the electric vehicle to move forward. By adjusting the frequency converter 3 of the drive motor, the control of the vehicle speed can also be realized. At the same time, the steering system wireless power transmission system receiving end 13 at the steering motor 10 receives the signal sent by the wireless power transmission system transmitting end 1, and after the frequency conversion and speed regulation of the steering motor inverter 14, it can be used for the steering motor 10 when the electric vehicle turns. Provide electrical energy.

There are four groups of steering motor 10, steering reducer 11, and steering shaft 12, which are connected with four spherical wheels 5 respectively. When the electric vehicle turns, turn the steering wheel 6, and the torque sensor 7 transmits the signal of the direction of rotation of the steering wheel 6 and the size of the steering wheel angle to the ECU 8, and the ECU 8 controls the steering motor at each spherical wheel 5 according to the signal sent by the torque sensor 7 The positive and negative rotation of 10 and the size of the motor angle, wherein the left and right steering of the spherical wheel 5 can be controlled by controlling the positive and negative rotation of the steering motor 10, and the size of the spherical wheel 5 rotation angle can be controlled by controlling the motor rotation angle of the steering motor 10; The maximum rotation angle of the wheel 5 is affected by the vehicle speed, and there are two modes: high speed and low speed; the vehicle speed signal is transmitted to the ECU8 by the vehicle speed sensor 9, if the vehicle speed is greater than the critical speed u, it is considered to be driving at a high speed, and the ECU8 works in the high speed mode. No matter whether the lateral travel switch 15 is pressed or not, the lateral travel switch 15 will not play a role. When the electric vehicle turns, the ECU 8 only controls the steering motor 10 at the two front wheels of the electric vehicle to rotate, and the steering motor 10 at the two rear wheels does not turn, and the maximum angle of rotation of the steering motor 10 at the two front wheels is α1, and the maximum angle of rotation of the corresponding wheels is 40 degrees; Driving switch 15, the steering mode of the electric vehicle is consistent with the steering mode in high-speed mode, that is, the ECU 8 still only controls the rotation of the steering motor 10 at the two front wheels of the electric vehicle, and the maximum rotation angle of the steering motor 10 is α1, corresponding to The maximum rotation angle of the wheel is 40 degrees. If the electric vehicle needs to travel laterally, press the lateral travel switch 15, and the ECU8 controls the steering motor 10 at the four spherical wheels 5 of the electric vehicle to rotate, and when the steering wheel 6 has the largest rotation angle, the ECU8 The maximum rotation angle of the steering motor 10 at each spherical wheel 5 is controlled to be α2, and the maximum rotation angle of the corresponding spherical wheel 5 is 90 degrees to realize vertical steering and lateral driving of the electric vehicle.

Under the control signal of ECU8, the steering motor 10 makes a corresponding motor rotation angle, and the torque output by the steering motor 10 is decelerated and increased by the steering reducer 11, and is transmitted to the worm gear 24 meshed with it by the worm 15 at the output end of the steering reducer. The turbine 24 is connected to the steering shaft 12 through a key, and the turbine 24 drives the steering shaft 12 to rotate a corresponding angle. Since the lower end of the steering shaft 12 is connected to the support shaft 20 through the rolling bearing 19 connected to the steering shaft and the support shaft, the support shaft 20 also rotates. Corresponding rotation angle, and the support shaft 20 is rigidly connected with the spherical wheel 5, and the support shaft 20 rotates with the spherical wheel 5 to complete the steering.

The main purpose of the present invention is to provide a steering device that can travel vertically and horizontally, which is convenient for fast and accurate positioning. Without departing from the essence of the present invention, the structure of the power transmission system of the electric vehicle, the structure of the steering system, and the structure of the spherical wheel can be arranged accordingly. changes, but these corresponding changes should fall within the protection scope of the claims of the present invention.

Claims (5)

1. A steering device capable of vertical and horizontal driving, including a wireless power transmission system transmitter, a wheel wireless power transmission system receiver, a drive motor inverter, a drive motor, spherical wheels, a steering wheel, a torque sensor, an ECU, a vehicle speed sensor, Steering motor, steering reducer, lateral travel switch, steering shaft, turbine, receiving end of steering system wireless power transmission system, steering motor frequency converter, worm, rolling bearing connected to steering shaft and support frame on chassis, support frame on chassis, positioning The nut, the rolling bearing connected to the steering shaft and the support shaft, the support shaft, the rim, the tire, and the spoke are characterized in that: the vehicle adopts a spherical wheel, and inside the spherical wheel, the drive motor, the drive motor frequency converter and the receiver of the wheel wireless power transmission system Both ends are located on the horizontal axis of the wheel, wherein the drive motor is an asynchronous motor, the outer rotor of the drive motor is connected to the spokes, and the other end of the spokes is connected to the rim of the spherical wheel, so that the rotation of the outer rotor of the drive motor can drive the wheel to roll forward The outside of each spherical wheel is rigidly connected to the support shaft, the support shaft is located on the horizontal axis of the spherical wheel, the steering shaft is connected to the support shaft through a rolling bearing, and the rolling bearing connected to the steering shaft and the support shaft is used on the side of the support shaft close to the wheel The shaft shoulder is used for axial positioning, and the side away from the wheel on the supporting shaft is positioned through the positioning nut, wherein the positioning nut is connected with the supporting shaft; the upper end of the steering shaft is connected with the turbine through a key, and the turbine is meshed with the worm at the output end of the steering reducer , in the middle of the steering shaft, the steering shaft is connected to the support frame on the chassis through rolling bearings; the power transmission method of electric vehicles is wireless power transmission, the transmitter of the wireless power transmission system is installed on the chassis, and the receiver of the wheel wireless power transmission system The end, drive motor and drive motor inverter are installed in the direction of the horizontal axis inside each wheel to provide electric energy for the drive motor of each spherical wheel to make the electric vehicle move forward. 2. A steering device that can travel vertically and horizontally as claimed in claim 1, wherein the four wheels of the electric vehicle all adopt spherical wheels and are driven independently. 3. The steering device according to claim 1 or 2, wherein the drive motor is an asynchronous motor. 4. An electric vehicle, characterized in that the steering device according to any one of claims 1-3 is used. 5. A method of steering using the steering device according to claim 1: There are four sets of steering motors, steering reducers, and steering shafts, which are respectively connected to four spherical wheels; when the electric vehicle turns, turn the steering wheel, and the torque sensor transmits the signal of the steering wheel's rotation direction and steering wheel angle to the ECU, ECU According to the signal sent by the torque sensor, control the forward and reverse rotation of the steering motor at each spherical wheel and the size of the motor angle, wherein the left and right steering of the spherical wheel can be controlled by controlling the forward and reverse rotation of the steering motor, and the motor rotation angle of the steering motor can be controlled The size can control the size of the spherical wheel's rotation angle; however, the maximum rotation angle of the spherical wheel is affected by the vehicle speed, and there are two modes: high speed and low speed; the vehicle speed signal is transmitted to the ECU by the vehicle speed sensor, if the vehicle speed is greater than the critical speed u, it is considered to be driving at high speed, The ECU works in high-speed mode. At this time, no matter whether the lateral travel switch is pressed or not, the lateral travel switch will not work. When the electric vehicle turns, the ECU only controls the steering motor at the two front wheels of the electric vehicle to rotate, and the two rear wheels The steering motor at the position does not rotate, and the maximum rotation angle of the steering motor at the two front wheels is α1, and the maximum rotation angle of the corresponding wheels is 40 degrees; Without pressing the lateral travel switch, the steering mode of the electric vehicle is consistent with that in high-speed mode, that is, the ECU still only controls the rotation of the steering motor at the two front wheels of the electric vehicle, and the maximum rotation angle of the steering motor is α1, corresponding to The maximum rotation angle of the wheels is 40 degrees. If the electric vehicle needs to travel horizontally, press the lateral travel switch, and the ECU will control the rotation of the steering motors at the four spherical wheels of the electric vehicle, and when the steering wheel has the largest rotation angle, the ECU will control each The maximum rotation angle of the steering motor at the spherical wheel is α2, and the maximum rotation angle of the corresponding spherical wheel is 90 degrees, which realizes the vertical steering and lateral driving of the electric vehicle; under the control signal of the ECU, the steering motor makes a corresponding motor rotation angle, and the steering motor The output torque is decelerated and increased by the steering reducer, and is transmitted from the worm at the output end of the steering reducer to the meshed turbine. The turbine is connected to the steering shaft through a key, and the turbine drives the steering shaft to rotate a corresponding angle. Since the lower end of the steering shaft passes through The rolling bearing that the steering shaft is connected with the support shaft is connected on the support shaft, then the support shaft also rotates at a corresponding angle, and the support shaft and the spherical wheel are rigidly connected, and the support shaft rotates with the spherical wheel to complete the steering.