CN104108421A - Suspension steering device for hub direct-driving electric vehicle - Google Patents
Suspension steering device for hub direct-driving electric vehicle Download PDFInfo
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- CN104108421A CN104108421A CN201410202440.5A CN201410202440A CN104108421A CN 104108421 A CN104108421 A CN 104108421A CN 201410202440 A CN201410202440 A CN 201410202440A CN 104108421 A CN104108421 A CN 104108421A
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Abstract
The invention discloses a suspension steering device for a hub direct-driving electric vehicle and relates to the field of vehicle suspensions and steering mechanisms. The other end of a first vertical twisted part is connected with one end of a second vertical twisted part. The other end of the second vertical twisted part is fixedly connected with one end of a direction connecting rod which is fixedly arranged on the horizontal beam. A gyropendulum arm is arranged on the direction connecting rod. A gyroscope is arranged on the gyropendulum arm. Damper supports are arranged at the positions, close to a longitudinal suspending arm, of the outer sides of two longitudinal beams of a vehicle frame. An elastic damper is arranged on each damper support. One end of each elastic damper is fixed at the corresponding damper support. The other end of each elastic damper is fixed on the longitudinal suspending arm. The suspension steering device is reasonable in structure design, easy to operate and convenient to use, a large damping stroke can be provided, lateral swinging of wheels is avoided, abrasion of the wheels and a hanging mechanism is avoided, a plurality of groups of driving axles can be used on a vehicle chassis conveniently, a vehicle chasses structure is greatly simplified, and weight is lowered.
Description
Technical field
The present invention relates to a kind of suspension steering hardware for the straight drive electric automobile of wheel hub, belong to automobile hanging and steering hardware technical field.
Background technology
In order to coordinate traditional type of drive, the drive axle of existing car chassis adopts lateral suspension more, existing electronlmobil is also to continue to use this hang, this hang has limited the stroke of wheel vibration damping motion and cross travel can occur in the time of wheel up-and-down movement and caused tire in horizontal wearing and tearing, thereby the plane of rotation of wheel cannot keep vertical cause travel stability decline and driving efficiency reduction with ground level simultaneously; In order to reduce this impact, the modes such as some suspensions as inferior in McGee, many hangings are invented, this causes again that mechanism's complexity, part increase, the rising of cost weight, reliability decrease, lubricated difficulty, and the wearing and tearing that cannot thoroughly solve parts, is especially difficult to realize larger cushioning stroke.
In traditional wheeled car, the direction stability in travelling is the constant speed drive that relies on left and right sides wheel, ensures by the mechanical constraint of mechanical differential gear box and steering box, and mechanical differential gear box determined in the time that single wheel skids, and opposite side wheel can run out of steam; And must cause direction unstability in the time of Uneven road and when road medium changes, the load-carrying of the vehicle frame left and right sides simultaneously or the inequality of wearing and tearing also can cause travel direction deviation, these all make driving safety and smoothness decline.
In the electronlmobil directly driving at wheel hub, the equilibrium problem of both sides wheel propulsive effort and drive current is difficult to solve, adopt traditionally the mode of E-Diff cannot overcome the direction unstability that road shocks causes, also cannot adapt to the variation of load-carrying variation and road surface medium, therefore never reach practical degree.
Summary of the invention
For the problems referred to above, the technical problem to be solved in the present invention is to provide a kind of suspension steering hardware for the straight drive electric automobile of wheel hub.
A kind of suspension steering hardware for the straight drive electric automobile of wheel hub of the present invention, it comprises longeron, crossbeam, longitudinally cantilever, horizontal shaft, level turns to swing arm, vertical axis, wheel, adjust bar, the first level strand, the second level strand, first vertically twists, second vertically twists, direction connecting rod, gyro swing arm, gyro, shock absorber support, elastic dampers, between two longerons, be horizontally arranged with crossbeam, the two ends of crossbeam are symmetrically arranged with longitudinal cantilever, and one end of two longitudinal cantilevers is all fixed on the two ends of crossbeam by horizontal shaft, the movable end of two longitudinal cantilevers is all provided with level and turns to swing arm, and longitudinally cantilever and level turn between swing arm and are fixedly connected with by vertical axis, level turns to and in swing arm, is fixedly installed wheel, one end of adjust bar is fixed on level and turns in swing arm, the other end of adjust bar is connected with one end of the first level strand, the other end of the first level strand is connected with one end of the second level strand, the other end of the second level strand is connected with one end of the first vertical strand, the other end of the first vertical strand is connected with one end of the second vertical strand, the other end of the second vertical strand is fixedly connected with one end of direction connecting rod, direction connecting rod is fixedly mounted on crossbeam, on direction connecting rod, be provided with gyro swing arm, in gyro swing arm, be provided with gyro, the outside of two longerons of vehicle frame is provided with shock absorber support near longitudinal cantilever place, on shock absorber support, be provided with elastic dampers, and one end of elastic dampers is fixed on shock absorber support, the other end of elastic dampers is fixed on longitudinal cantilever.
As preferably, described longitudinal cantilever rotates around horizontal boom axle, and its wheel is subject to impacting while carrying out vibration damping motion, can only in vertical plane surface, swing up and down and can not tilt, its path of motion and rotation of wheel plane keeping parallelism.
As preferably, described level turns to swing arm, by adjust bar, the first level strand, the second level strand, the first vertical strand strand vertical with second, the handling maneuver of swing arm is delivered to direction connecting rod, in the time that longitudinally cantilever does upper and lower vibration damping motion, can not affect level and turn to the deflection angle of swing arm, otherwise, if the deflection angle of swing arm is constant, when longitudinally cantilever does upper and lower vibration damping motion, can not make the action of direction connecting rod yet.
As preferably, described wheel is built-in with drive motor, can make wheel freely rotate around wheel shaft, between two wheels, there is no transmission shaft, wheel both can each leisure independently turns round under the control of motor electronic controller, can also rotate to change travel direction around swing arm steering shaft at horizontal surface separately, wheel steering moves through Linkage steering realizes the interlock of both sides wheel turning angle, wheel can not have influence on deflection angle in the time doing upper and lower vibration damping motion, the steering angle of wheel is coupled to gyroscope by direction connecting rod, and steering angle of wheel is by direction connecting rod and bearing circle interlock, now the steering effort direct-drive of bearing circle makes it to turn to wheel, even wheel run out of steam also can controlling party to.
As preferably, described direction connecting rod not only plays the effect of direction interlock between the wheel group of both sides, using in bearing circle situation, the output of bearing circle is by bearing circle drive link and direction connection-rod linkage, can play to stir transverse link the effect turning to by steering wheel rotation, even if now single wheel runs out of steam, as long as promptly bearing circle, vehicle still keeps direction stable, in the situation that not using bearing circle, change to regulate deflection angle by the propulsive effort of gyro control both sides wheel, and between the wheel group of both sides, also play the effect of moment trim, if the propulsive effort of both sides wheel and carrying situation change, must cause the skew of transverse link, the anglec of rotation that this side-play amount converts gyro to by gyro swing arm changes, thereby and then make gyro sense space angle to be offset and to export correcting signal and make both sides wheel group propulsive efforts change trim again.
Beneficial effect of the present invention: its reasonable in design, simple to operate, easy to use, great cushioning stroke not only can be provided, and the wearing and tearing of side on oscillation and tire and the hitch of wheel are avoided, be convenient to adopt many group drive axles on car chassis, automobile chassis structures simplified greatly, weight saving.
Brief description of the drawings
For ease of explanation, the present invention is described in detail by following concrete enforcement and accompanying drawing.
Fig. 1 is structural representation of the present invention.
Fig. 2 is the back view of Fig. 1.
Fig. 3 is perspective view of the present invention.
Fig. 4 is the connection structure schematic diagram between center member of the present invention and longitudinal cantilever.
Fig. 5 is the connection structure schematic diagram of longeron and crossbeam in the present invention.
Fig. 6 is the back view of Fig. 5.
Wherein, 1-longeron; 2-crossbeam; The longitudinal cantilever of 3-; 4-horizontal shaft; 5-level turns to swing arm; 6-vertical axis; 7-wheel; 8-adjust bar; 9-the first level strand; 10-the second level strand; 11-first vertically twists; 12-second vertically twists; 13-direction connecting rod; The swing arm of 14-gyro; 15-gyro; 16-shock absorber support; 17-elastic dampers.
Detailed description of the invention
As shown in Fig. 1-Fig. 6, this detailed description of the invention is by the following technical solutions: it comprises longeron 1, crossbeam 2, longitudinally cantilever 3, horizontal shaft 4, level turns to swing arm 5, vertical axis 6, wheel 7, adjust bar 8, the first level strand 9, the second level strand 10, the first vertical strand 11, the second vertical strand 12, direction connecting rod 13, gyro swing arm 14, gyro 15, shock absorber support 16, elastic dampers 17, between two longerons 1, be horizontally arranged with crossbeam 2, the two ends of crossbeam 2 are symmetrically arranged with longitudinal cantilever 3, and one end of two longitudinal cantilevers 3 is all fixed on the two ends of crossbeam 2 by horizontal shaft 4, the movable end of two longitudinal cantilevers 3 is all provided with level and turns to swing arm 5, and longitudinally cantilever 3 and level turn between swing arm 5 and are fixedly connected with by vertical axis 6, level turns to and in swing arm 5, is fixedly installed wheel 7, one end of adjust bar 8 is fixed on level and turns in swing arm 5, the other end of adjust bar 8 is connected with one end of the first level strand 9, the other end of the first level strand 9 is connected with one end of the second level strand 10, the other end of the second level strand 10 is connected with one end of the first vertical strand 11, the other end of the first vertical strand 11 is connected with one end of the second vertical strand 12, the other end of the second vertical strand 12 is fixedly connected with one end of direction connecting rod 13, direction connecting rod 13 is fixedly mounted on crossbeam 2, on direction connecting rod 13, be provided with gyro swing arm 14, in gyro swing arm 14, be provided with gyro 15, the outside of two longerons 1 of vehicle frame is provided with shock absorber support 16 near longitudinal cantilever 3 places, on shock absorber support 16, be provided with elastic dampers 17, and one end of elastic dampers 17 is fixed on shock absorber support 16, the other end of elastic dampers 17 is fixed on longitudinal cantilever 3.
Wherein, described longitudinal cantilever 3 rotates around horizontal boom axle, and its wheel 7 is subject to impacting and carries out vibration damping when motion, can only in vertical plane surface, swing up and down and can not tilt, its path of motion and rotation of wheel plane keeping parallelism, described level turns to swing arm 5, by adjust bar 8, the first level strand 9, the second level strand 10, the first vertical strand 11 strands 12 vertical with second, the handling maneuver of swing arm is delivered to direction connecting rod 13, in the time that longitudinally cantilever 3 does upper and lower vibration damping motion, can not affect level and turn to the deflection angle of swing arm 5, otherwise, if the deflection angle of swing arm is constant, when longitudinally cantilever 3 does upper and lower vibration damping motion, can not make direction connecting rod 13 move yet, described wheel 7 is built-in with drive motor, can make wheel freely rotate around wheel shaft, between two wheels, there is no transmission shaft, wheel both can each leisure independently turns round under the control of motor electronic controller, can also rotate to change travel direction around swing arm steering shaft at horizontal surface separately, wheel steering moves through Linkage steering realizes the interlock of both sides wheel turning angle, wheel can not have influence on deflection angle in the time doing upper and lower vibration damping motion, the steering angle of wheel is coupled to gyroscope by direction connecting rod 13, and steering angle of wheel is by direction connecting rod and bearing circle interlock, now the steering effort direct-drive of bearing circle makes it to turn to wheel, even wheel run out of steam also can controlling party to, described direction connecting rod 13 not only plays the effect of direction interlock between the wheel group of both sides, using in bearing circle situation, the output of bearing circle is by bearing circle drive link and direction connection-rod linkage, can play to stir transverse link the effect turning to by steering wheel rotation, even if now single wheel runs out of steam, as long as promptly bearing circle, vehicle still keeps direction stable, in the situation that not using bearing circle, change to regulate deflection angle by the propulsive effort of gyro control both sides wheel, and between the wheel group of both sides, also play the effect of moment trim, if the propulsive effort of both sides wheel and carrying situation change, must cause the skew of transverse link, the anglec of rotation that this side-play amount converts gyro to by gyro swing arm changes, thereby and then make gyro sense space angle to be offset and to export correcting signal and make both sides wheel group propulsive efforts change trim again.
In this detailed description of the invention, the stable of vehicle heading determined by electronic gyroscope device, in the time of travel direction generation error, the variation of electronic gyroscope device sensing space angle, give an order to each motor electronic controller, controlling corresponding motor drive current changes, making left and right sides wheel drive torque change makes vehicle recover correct travel direction, the turning of vehicle is passed through left and right sides wheel under the control of electronic gyroscope device, carrying out differential action completes, when chaufeur sends turn command by bearing circle, give an order to each electronic motor controller according to the angle signal of electronic gyroscope device feedback, controlling corresponding motor drive current vector changes, make the differential turn inside diameter that makes of left and right sides wheel.
This detailed description of the invention is in the time turning to, by adjust bar 8, the first level hinge 9 and the second level strand 10, rotatablely moving of swing arm converted to the straight-line motion of transverse link, the first vertical hinge 11 strand 12 vertical with second is used for the component motion of filtering front and back and above-below direction, the output that makes cantilever can not affect transverse link in the time of upper and lower vibration damping motion can not affect the orientation angle that turns to swing arm yet, and adjust bar 8 can regulate the orientation angle of length with correction wheel.
The principle of work of this detailed description of the invention: crossbeam 2 and two vertical fine strain of millet 1 weld togethers form bearing-type vehicle frame, controlled pedal is installed on vehicle frame, which is provided with bearing circle 4, throttle and brake pedal 5, bearing circle drive link place is provided with strain-type force meter, when chaufeur is pulled bearing circle and is sent signal for turn, strain-type force meter is to electronic gyroscope delivery pressure or pulling force signal, electronic gyroscope device is given an order to each electric machine controller according to current angle information, controlling corresponding motor drive current vector changes, make the differential turn inside diameter that makes of left and right sides wheel, brake pedal is equipped with semiconductor hall sensor, push down on the pedal sends speed-slackening signal to electronic gyroscope device, electronic gyroscope device sends instruction to both sides wheel electrical machine electronic controller makes its synchronous braking maneuver of carrying out make car retardation.
More than show and described groundwork of the present invention and principal character and advantage of the present invention.The technical personnel of the industry should be understood; the present invention is not restricted to the described embodiments; that in above-described embodiment and specification sheets, describes just illustrates principle of the present invention; without departing from the spirit and scope of the present invention; the present invention also has various changes and modifications, and these changes and improvements all fall in the claimed scope of the invention.The claimed scope of the present invention is defined by appending claims and equivalent thereof
.
Claims (2)
1. the suspension steering hardware for the straight drive electric automobile of wheel hub, it is characterized in that: it comprises longeron (1), crossbeam (2), longitudinally cantilever (3), horizontal shaft (4), level turns to swing arm (5), vertical axis (6), wheel (7), adjust bar (8), the first level strand (9), the second level strand (10), first vertically twists (11), second vertically twists (12), direction connecting rod (13), gyro swing arm (14), gyro (15), shock absorber support (16), elastic dampers (17), between two longerons (1), be horizontally arranged with crossbeam (2), the two ends of crossbeam (2) are symmetrically arranged with longitudinal cantilever (3), and one end of two longitudinal cantilevers (3) is all fixed on the two ends of crossbeam (2) by horizontal shaft (4), the movable end of two longitudinal cantilevers (3) is all provided with level and turns to swing arm (5), and longitudinally cantilever (3) and level turn between swing arm (5) and are fixedly connected with by vertical axis (6), level turns to and in swing arm (5), is fixedly installed wheel (7), one end of adjust bar (8) is fixed on level and turns in swing arm (5), one end that the other end of adjust bar (8) twists (9) with the first level is connected, one end that the other end of the first level strand (9) twists (10) with the second level is connected, the other end of the second level strand (10) is connected with one end of the first vertical strand (11), first other end that vertically twists (11) is connected with one end of the second vertical strand (12), second other end that vertically twists (12) is fixedly connected with one end of direction connecting rod (13), direction connecting rod (13) is fixedly mounted on crossbeam (2), on direction connecting rod (13), be provided with gyro swing arm (14), in gyro swing arm (14), be provided with gyro (15), shock absorber support (16) is located to be provided with near longitudinal cantilever (3) in the outside of two longerons of vehicle frame (1), on shock absorber support (16), be provided with elastic dampers (17), and one end of elastic dampers (17) is fixed on shock absorber support (16), the other end of elastic dampers (17) is fixed on longitudinal cantilever (3).
2. a kind of suspension steering hardware for the straight drive electric automobile of wheel hub according to claim 1, is characterized in that: described wheel (7) is built-in with drive motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410202440.5A CN104108421B (en) | 2014-07-22 | 2014-07-22 | Suspension steering device for hub direct-driving electric vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410202440.5A CN104108421B (en) | 2014-07-22 | 2014-07-22 | Suspension steering device for hub direct-driving electric vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104108421A true CN104108421A (en) | 2014-10-22 |
| CN104108421B CN104108421B (en) | 2017-02-22 |
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ID=51705474
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410202440.5A Expired - Fee Related CN104108421B (en) | 2014-07-22 | 2014-07-22 | Suspension steering device for hub direct-driving electric vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104108421B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105059422A (en) * | 2015-09-25 | 2015-11-18 | 北京理工大学 | All-terrain vehicle based on four-connecting-rod deformable principle |
| CN106080764A (en) * | 2016-06-12 | 2016-11-09 | 华北理工大学 | The four motor-driven logistic cars of wheel hub |
| CN107176255A (en) * | 2017-06-13 | 2017-09-19 | 程扬 | A kind of trailing arm suspension of self-balancing |
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| CN201566689U (en) * | 2009-12-03 | 2010-09-01 | 诸城市义和车桥有限公司 | Oil brake pipe type large-drop front axle |
| US20110248465A1 (en) * | 2010-04-12 | 2011-10-13 | Ford Global Technologies, Llc | Rear wheel suspension, the coil spring of which has a tilted line of action of force |
| CN102729751A (en) * | 2011-03-30 | 2012-10-17 | Ntn-Snr轴承公司 | Bump stop with reinforced sealing |
| CN203064024U (en) * | 2013-03-01 | 2013-07-17 | 集贤县东方机械制造有限公司 | Rear drive steering axle of combine harvester |
| CN103770836A (en) * | 2012-10-26 | 2014-05-07 | 黄石市万顺转向器有限公司 | Enhanced front axle of steering arms of wheeled tractor |
| CN203666766U (en) * | 2013-11-18 | 2014-06-25 | 郑州精益达汽车零部件有限公司 | Front axle special for passenger car with front-mounted engine |
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2014
- 2014-07-22 CN CN201410202440.5A patent/CN104108421B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201566689U (en) * | 2009-12-03 | 2010-09-01 | 诸城市义和车桥有限公司 | Oil brake pipe type large-drop front axle |
| US20110248465A1 (en) * | 2010-04-12 | 2011-10-13 | Ford Global Technologies, Llc | Rear wheel suspension, the coil spring of which has a tilted line of action of force |
| CN102729751A (en) * | 2011-03-30 | 2012-10-17 | Ntn-Snr轴承公司 | Bump stop with reinforced sealing |
| CN103770836A (en) * | 2012-10-26 | 2014-05-07 | 黄石市万顺转向器有限公司 | Enhanced front axle of steering arms of wheeled tractor |
| CN203064024U (en) * | 2013-03-01 | 2013-07-17 | 集贤县东方机械制造有限公司 | Rear drive steering axle of combine harvester |
| CN203666766U (en) * | 2013-11-18 | 2014-06-25 | 郑州精益达汽车零部件有限公司 | Front axle special for passenger car with front-mounted engine |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105059422A (en) * | 2015-09-25 | 2015-11-18 | 北京理工大学 | All-terrain vehicle based on four-connecting-rod deformable principle |
| CN105059422B (en) * | 2015-09-25 | 2017-06-20 | 北京理工大学 | A kind of all-terrain vehicle based on the deformable principle of double leval jib |
| CN106080764A (en) * | 2016-06-12 | 2016-11-09 | 华北理工大学 | The four motor-driven logistic cars of wheel hub |
| CN106080764B (en) * | 2016-06-12 | 2018-06-29 | 华北理工大学 | The motor-driven logistic car of four wheel hubs |
| CN107176255A (en) * | 2017-06-13 | 2017-09-19 | 程扬 | A kind of trailing arm suspension of self-balancing |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104108421B (en) | 2017-02-22 |
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Granted publication date: 20170222 Termination date: 20200722 |