CN103213615B - Steering device capable of driving vertically and horizontally - Google Patents
Steering device capable of driving vertically and horizontally Download PDFInfo
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- CN103213615B CN103213615B CN201310087125.8A CN201310087125A CN103213615B CN 103213615 B CN103213615 B CN 103213615B CN 201310087125 A CN201310087125 A CN 201310087125A CN 103213615 B CN103213615 B CN 103213615B
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Abstract
The invention provides a steering device capable of driving vertically and horizontally and belongs to the field of a mechanical-electrical integration technology. The steering device comprises a wireless power transmission system, a driving motor, a steering motor, a steering speed reducer, an ECU (Electronic Control Unit), a horizontal driving switch, spherical wheels and the like. The wireless power transmission system is used for providing electric energy to the driving motor and the steering motor; in a steering process, a torque sensor and a car speed sensor transmit signals to the ECU; the ECU controls the steering motor to rotate; and an output torque passes through the steering speed reducer, a steering shaft and a supporting shaft to finally drive the spherical wheels to rotate. The ECU judges a driving mode according to a car speed signal; under a high-speed mode, only two front wheels steer and the maximum steering angle of the wheels is 40 degrees; under a low-speed mode, the manner is the same as a steering manner of the high-speed mode when a horizontal driving switch is not pressed; and if the horizontal driving switch is pressed and the steering angle of a steering wheel is the maximum, the four wheels steer at the same time and can reach the maximum steering angle of 90 degrees, so as to realize horizontal driving.
Description
Technical field
The present invention relates to a kind of steering hardware that can travel in length and breadth, belong to electromechanical integration technology area.
Background technology
Steering swivel system is used to the device changing or keep running car or reverse direction, and it can control the travel direction of automobile according to the wish of chaufeur.Traditional automatically controlled steering boost system is made up of mechanical steering gear, torque sensor, magnetic clutch, speed reduction gearing, electrical motor etc., utilize electrical motor as power-assisted source, according to the factor such as the speed of a motor vehicle and turn around parameters, complete Power assisted control by electronic control unit, realize turning to of car.
The hard-over of Most current automobile steering system wheel flutter at about 40 degree, and many times needs automotive steering angle to become large, even can realize the translation of automobile position, and the steering swivel system of existing automobile cannot reach requirement.If automobile realizes position translation, need larger to turn to space and good driving technique.So existing automobile steering system is unfavorable for the accurate quick position of automobile, inconvenient driver's operation.
Secondly power supply mainly storage battery at present on battery-driven car is fuel cell, uses DC Brushless Motor so most.Because its rotor inertia is large, frequent start-stop inconvenience, price, limits its development.Along with the development of production technology, the weak link of DC pulling progressively shows.
Summary of the invention
The object of the invention is to solve the problem, provide a kind of novel and hard-over of wheel can change with the speed of a motor vehicle, when low speed, battery-driven car can realize the steering swivel system of vertical duction and cross running.Main technical schemes of the present invention is as follows:
The steering hardware that can travel in length and breadth, comprises Wireless power transmission system transmitting terminal, the receiving end of wheel Wireless power transmission system, drive motor frequency converter, drive motor, spherical wheel, steering handwheel, torque sensor, ECU, car speed sensor, steer motor, speed reducing steering system, cross running switch, steering shaft, turbine, steering swivel system Wireless power transmission system receiving end, steer motor frequency converter, worm screw, the antifriction-bearing box that steering shaft is connected with chassis upper support frame, bracing frame on chassis, setscrew nut, the antifriction-bearing box that steering shaft is connected with pivot shaft, pivot shaft, wheel rim, tire, spoke, is characterized in that: vehicle adopts spherical wheel, in the inside of spherical wheel, and drive motor, the receiving end of drive motor frequency converter and wheel Wireless power transmission system is located on wheel horizontal axis, wherein drive motor is asynchronous motor, outer rotor and the spoke of drive motor link together, the other end of spoke is connected with the wheel rim of spherical wheel, and such drive motor outer rotor rotates just can be with motor car wheel rolls forward, outside and the pivot shaft of each spherical wheel are rigidly connected, pivot shaft is positioned on the horizontal axis of spherical wheel, steering shaft is connected with pivot shaft by antifriction-bearing box, the side of the antifriction-bearing box that steering shaft is connected with pivot shaft near wheel on pivot shaft utilizes the shaft shoulder to carry out axial location, side away from wheel on pivot shaft is positioned by setscrew nut, and wherein setscrew nut is connected with pivot shaft, the upper end of steering shaft is connected with turbine by key, and turbine is meshed with the worm screw of speed reducing steering system mouth, and in the middle part of steering shaft, steering shaft is connected with the bracing frame on chassis by antifriction-bearing box, the power transmission mode of battery-driven car is wireless power transmission mode, Wireless power transmission system transmitting terminal is arranged on chassis, the receiving end of wheel Wireless power transmission system, drive motor and drive motor frequency converter are arranged on the horizontal axis direction of each inside wheel, for the drive motor of each spherical wheel provides electric energy, battery-driven car is advanced.
The present invention compares the advantage of prior art:
1, the hard-over of vehicle can be selected according to the speed of a motor vehicle, both ensure that battery-driven car steadily turning to when high speed, can realize again battery-driven car cross running when low speed, accurately locate in limited time, space.
2, wheel drives separately, when same power demand, can give multiple electrical motor, reduce single electric motor power division the requirement to electric and mechanical drive part, be convenient to design and production.
3, four wheels drive separately, eliminate traditional driving system, improve mechanical transfer efficiency, increase interior space.
4, adopt wireless power transmission mode to carry out power transmission, vehicle electric circuitry becomes succinct, eliminates the trouble of electric wire arrangement.
Accompanying drawing explanation
Fig. 1 is power transmission route instruction diagram of the present invention.
Fig. 2 is steering swivel system instruction diagram of the present invention.
Fig. 3 is spherical vehicle wheel construction instruction diagram of the present invention.
Detailed description of the invention
Power transmission route instruction diagram (Fig. 1)
1, Wireless power transmission system transmitting terminal; 2, the receiving end of wheel Wireless power transmission system; 3, drive motor frequency converter; 4, drive motor; 5, spherical wheel;
Steering swivel system instruction diagram (Fig. 2)
6, steering handwheel; 7, torque sensor; 8, ECU; 9, car speed sensor; 10, steer motor; 11, speed reducing steering system; 12, steering shaft; 13, steering swivel system Wireless power transmission system receiving end; 14, steer motor frequency converter; 15, cross running switch;
Spherical vehicle wheel construction instruction diagram (Fig. 3)
16, the antifriction-bearing box that is connected with chassis upper support frame of steering shaft; 17, the bracing frame on chassis; 18, setscrew nut; 19, the antifriction-bearing box that is connected with pivot shaft of steering shaft; 20, pivot shaft; 21, wheel rim; 22, tire; 23, spoke; 24, turbine; 25, worm screw.
Below in conjunction with embodiment accompanying drawing, the present invention will be further described.
As Fig. 1, 2, shown in 3, a kind of steering hardware that can travel in length and breadth of the present invention comprises: Wireless power transmission system transmitting terminal 1, the receiving end 2 of wheel Wireless power transmission system, drive motor frequency converter 3, drive motor 4, spherical wheel 5, steering handwheel 6, torque sensor 7, ECU8, car speed sensor 9, steer motor 10, speed reducing steering system 11, steering shaft 12, steering swivel system Wireless power transmission system receiving end 13, steer motor frequency converter 14, cross running switch 15, the antifriction-bearing box 16 that steering shaft is connected with chassis upper support frame, bracing frame 17 on chassis, setscrew nut 18, the antifriction-bearing box 19 that steering shaft is connected with pivot shaft, pivot shaft 20, wheel rim 21, tire 22, spoke 23, turbine 24, worm screw 25.
The specific works process of system is as follows: the Wireless power transmission system transmitting terminal 1 be positioned on chassis is transformed into electromagnetic wave signal electric signal, after modulation is amplified, launch with certain amplitude and frequency, after sheath reflection, received by the receiving end 2 of wheel Wireless power transmission system, the receiving end 2 of wheel Wireless power transmission system utilizes electromagnetic switching device that the electromagnetic wave received is converted into ac signal, alternating current is again after the frequency control of drive motor frequency converter 3, electric current is provided to drive motor 4, the outer rotor of drive motor 4 drives spherical rim for automobile wheel 21 to rotate together by spoke 23, spherical wheel 5 is rotated, driving electric garage enters.By the adjustment to drive motor frequency converter 3, the control to the speed of a motor vehicle can also be realized.Simultaneously, the steering swivel system Wireless power transmission system receiving end 13 at steer motor 10 place receives the signal that Wireless power transmission system transmitting terminal 1 sends, after the frequency control of steer motor frequency converter 14, can electric vehicle rotary to time provide electric energy for steer motor 10.
Steer motor 10, speed reducing steering system 11, steering shaft 12 have four groups, and wheel 5 spherical with four is connected respectively.Electric vehicle rotary to time, rotate steering handwheel 6, torque sensor 7 by the signal transmission of the hand of rotation of steering handwheel 6 and steering wheel angle size to ECU8, the signal that ECU8 sends according to torque sensor 7, control the rotating of steer motor 10 and the size of motor corner at each spherical wheel 5 place, rotating wherein by controlling steer motor 10 can control the left and right turn of spherical wheel 5, can be controlled the size of spherical wheel 5 corner by the motor corner size controlling steer motor 10, but the hard-over of spherical wheel 5 is subject to the impact of the speed of a motor vehicle, have at a high speed and low speed two patterns, vehicle speed signal passes to ECU8 by car speed sensor 9, if the speed of a motor vehicle is greater than critical speed u, then be considered to run at high speed, ECU8 works in high speed mode, now no matter whether press cross running switch 15, cross running switch 15 all can not play a role, electric vehicle rotary to time, the steer motor 10 that ECU8 only controls battery-driven car two front-wheel places is rotated, the steer motor 10 at two trailing wheel places is not rotated, and the hard-over of the steer motor 10 at two front-wheel places is α 1, corresponding wheel hard-over is 40 degree, if battery-driven car is when the speed of a motor vehicle turns to lower than critical speed u, namely in the low-speed mode, if not according to lower horizontal travel switch 15, the steering mode of battery-driven car is consistent with steering mode in high speed mode, namely the steer motor 10 that ECU8 still only controls two front-wheel places of battery-driven car is rotated, and the hard-over of steer motor 10 is α 1, corresponding wheel hard-over is 40 degree, if when needing battery-driven car cross running, press cross running switch 15, the steer motor 10 that ECU8 controls four spherical wheel 5 places of battery-driven car is rotated, and when steering handwheel 6 corner is maximum, the hard-over that ECU8 controls the steer motor 10 at each spherical wheel 5 place is α 2, corresponding spherical wheel 5 hard-over is 90 degree, realize vertical duction and the cross running of battery-driven car.
Under the control signal of ECU8, steer motor 10 makes corresponding motor corner, the moment of torsion that steer motor 10 exports is turned round through the deceleration increasing of speed reducing steering system 11, the turbine 24 be meshed with it is passed to by the worm screw 15 of speed reducing steering system mouth, turbine 24 is connected with steering shaft 12 by key, turbine 24 drives steering shaft 12 to rotate corresponding corner, because the lower end of steering shaft 12 is connected on pivot shaft 20 by the antifriction-bearing box 19 that steering shaft is connected with pivot shaft, then pivot shaft 20 also rotates corresponding corner, and pivot shaft 20 and spherical wheel 5 are for being rigidly connected, pivot shaft 20 rotates with spherical wheel 5, complete and turn to.
The present invention mainly provides a kind of steering hardware that can travel in length and breadth; fast and easy is located accurately; when not deviating from essence of the present invention; the structural arrangement of the structure of electrical vehicular power transmission system, steering swivel system, spherical wheel can be done corresponding change, but these corresponding changes all should belong within the claims belonging to the present invention.
Claims (5)
1. the steering hardware that can travel in length and breadth, comprises Wireless power transmission system transmitting terminal, the receiving end of wheel Wireless power transmission system, drive motor frequency converter, drive motor, spherical wheel, steering handwheel, torque sensor, ECU, car speed sensor, steer motor, speed reducing steering system, cross running switch, steering shaft, turbine, steering swivel system Wireless power transmission system receiving end, steer motor frequency converter, worm screw, the antifriction-bearing box that steering shaft is connected with chassis upper support frame, bracing frame on chassis, setscrew nut, the antifriction-bearing box that steering shaft is connected with pivot shaft, pivot shaft, wheel rim, tire, spoke, is characterized in that: vehicle adopts spherical wheel, in the inside of spherical wheel, and drive motor, the receiving end of drive motor frequency converter and wheel Wireless power transmission system is located on wheel horizontal axis, wherein drive motor is asynchronous motor, outer rotor and the spoke of drive motor link together, the other end of spoke is connected with the wheel rim of spherical wheel, and such drive motor outer rotor rotates just can be with motor car wheel rolls forward, outside and the pivot shaft of each spherical wheel are rigidly connected, pivot shaft is positioned on the horizontal axis of spherical wheel, steering shaft is connected with pivot shaft by antifriction-bearing box, the side of the antifriction-bearing box that steering shaft is connected with pivot shaft near wheel on pivot shaft utilizes the shaft shoulder to carry out axial location, side away from wheel on pivot shaft is positioned by setscrew nut, and wherein setscrew nut is connected with pivot shaft, the upper end of steering shaft is connected with turbine by key, and turbine is meshed with the worm screw of speed reducing steering system mouth, and in the middle part of steering shaft, steering shaft is connected with the bracing frame on chassis by antifriction-bearing box, the power transmission mode of battery-driven car is wireless power transmission mode, Wireless power transmission system transmitting terminal is arranged on chassis, the receiving end of wheel Wireless power transmission system, drive motor and drive motor frequency converter are arranged on the horizontal axis direction of each inside wheel, for the drive motor of each spherical wheel provides electric energy, battery-driven car is advanced.
2. a kind of steering hardware that can travel in length and breadth as claimed in claim 1, is characterized in that: four wheels of battery-driven car all adopt spherical wheel, drive separately.
3. steering hardware according to claim 1 and 2, wherein drive motor is asynchronous motor.
4. a battery-driven car, is characterized in that have employed the described steering hardware of one of claim 1-3.
5. one kind utilizes steering hardware as claimed in claim 1 to carry out the method turned to:
Steer motor, speed reducing steering system, steering shaft have four groups, are connected respectively with four spherical wheels, electric vehicle rotary to time, rotate steering handwheel, torque sensor by the signal transmission of the hand of rotation of steering handwheel and steering wheel angle size to ECU, the signal that ECU sends according to torque sensor, control the rotating of steer motor and the size of motor corner at each spherical wheel place, rotating wherein by controlling steer motor can control the left and right turn of spherical wheel, can be controlled the size of spherical wheel steering angle by the motor corner size controlling steer motor, but the hard-over of spherical wheel is subject to the impact of the speed of a motor vehicle, have at a high speed and low speed two patterns, vehicle speed signal passes to ECU by car speed sensor, if the speed of a motor vehicle is greater than critical speed u, then be considered to run at high speed, ECU works in high speed mode, now no matter whether presses cross running switch, cross running switch all can not play a role, electric vehicle rotary to time, ECU only control battery-driven car two front-wheel places steer motor rotate, the steer motor at two trailing wheel places is not rotated, and the hard-over of the steer motor at two front-wheel places is α 1, corresponding wheel hard-over is 40 degree, if battery-driven car is when the speed of a motor vehicle turns to lower than critical speed u, namely in the low-speed mode, if not according to lower horizontal travel switch, the steering mode of battery-driven car is consistent with steering mode in high speed mode, namely ECU still only controls the steer motor rotation at two front-wheel places of battery-driven car, and the hard-over of steer motor is α 1, corresponding wheel hard-over is 40 degree, if when needing battery-driven car cross running, press cross running switch, the steer motor that ECU controls four spherical wheel places of battery-driven car is rotated, and when steering wheel angle is maximum, the hard-over that ECU controls the steer motor at each spherical wheel place is α 2, corresponding spherical wheel hard-over is 90 degree, realize vertical duction and the cross running of battery-driven car, under the control signal of ECU, steer motor makes corresponding motor corner, the moment of torsion that steer motor exports is turned round through the deceleration increasing of speed reducing steering system, the turbine be meshed with it is passed to by the worm screw of speed reducing steering system mouth, turbine is connected with steering shaft by key, turbine drives steering shaft to rotate corresponding corner, because the lower end of steering shaft is connected on pivot shaft by the antifriction-bearing box that steering shaft is connected with pivot shaft, then pivot shaft also rotates corresponding corner, and pivot shaft and spherical wheel are for being rigidly connected, pivot shaft is with spherical rotation of wheel, complete and turn to.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310087125.8A CN103213615B (en) | 2013-03-19 | 2013-03-19 | Steering device capable of driving vertically and horizontally |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310087125.8A CN103213615B (en) | 2013-03-19 | 2013-03-19 | Steering device capable of driving vertically and horizontally |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103213615A CN103213615A (en) | 2013-07-24 |
| CN103213615B true CN103213615B (en) | 2015-07-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310087125.8A Expired - Fee Related CN103213615B (en) | 2013-03-19 | 2013-03-19 | Steering device capable of driving vertically and horizontally |
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| CN (1) | CN103213615B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113104102A (en) * | 2021-06-15 | 2021-07-13 | 北京理工大学 | Vehicle wireless electromagnetic transmission omnidirectional driving device and system |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102056762A (en) * | 2008-06-09 | 2011-05-11 | 丰田自动车株式会社 | Vehicle, and vehicle controlling method |
| CN201980286U (en) * | 2010-12-24 | 2011-09-21 | 中山市泰宝电子科技有限公司 | Electric vehicle control device capable of transversely turning for 90 DEG leftwards and rightwards |
| CN102529965A (en) * | 2010-10-29 | 2012-07-04 | 爱信精机株式会社 | Lateral motion control apparatus for a vehicle |
| CN102556065A (en) * | 2010-10-29 | 2012-07-11 | 爱信精机株式会社 | Lateral motion control apparatus for a vehicle |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004345592A (en) * | 2003-05-26 | 2004-12-09 | Nissan Motor Co Ltd | Steering device of vehicle |
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2013
- 2013-03-19 CN CN201310087125.8A patent/CN103213615B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102056762A (en) * | 2008-06-09 | 2011-05-11 | 丰田自动车株式会社 | Vehicle, and vehicle controlling method |
| CN102529965A (en) * | 2010-10-29 | 2012-07-04 | 爱信精机株式会社 | Lateral motion control apparatus for a vehicle |
| CN102556065A (en) * | 2010-10-29 | 2012-07-11 | 爱信精机株式会社 | Lateral motion control apparatus for a vehicle |
| CN201980286U (en) * | 2010-12-24 | 2011-09-21 | 中山市泰宝电子科技有限公司 | Electric vehicle control device capable of transversely turning for 90 DEG leftwards and rightwards |
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| CN103213615A (en) | 2013-07-24 |
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