CN104973124A - Chassis structure of suspension frame electric vehicle - Google Patents
Chassis structure of suspension frame electric vehicle Download PDFInfo
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- CN104973124A CN104973124A CN201510405461.1A CN201510405461A CN104973124A CN 104973124 A CN104973124 A CN 104973124A CN 201510405461 A CN201510405461 A CN 201510405461A CN 104973124 A CN104973124 A CN 104973124A
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- vehicle frame
- cantilever
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- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
Abstract
The invention discloses a chassis structure of a suspension frame electric vehicle. The chassis structure comprises a frame. The frame is provided with a plurality of sets of independent walking devices. Each walking device comprises a control system, a hanging motor, a cantilever, wheels and a power motor, and a containing frame is arranged on the top of the frame. The control systems are arranged in the containing frame. A cantilever shaft fixing frame is arranged at the bottom of the frame and connected with cantilever shafts in the horizontal direction through longitudinal rotating bearings. The upper ends of the cantilevers are connected with the cantilever shafts. The cantilever shafts are connected with output shafts of the hanging motors through transmission gear sets. The lower ends of the cantilevers are connected with the wheels. The power motors are hub type power motors installed on the wheels. Compared with the prior art, the chassis structure has the advantages that during driving, the wheels can be automatically lifted up or placed down through a vehicle chassis when the ground is bumped or oblique, and the wheels are kept to make contact with the ground; the vehicle body part is kept horizontal constantly, and the gravity center is in the safety range all the time.
Description
Technical field
The present invention relates to electric vehicle chassis, particularly relate to a kind of chassis structure of the vehicle frame battery-driven car that suspends.
Background technology
The hang that existing car chassis adopts, can not initiatively, change suspension height rapidly, car body obliqueness must be made when inclination degree changes to change thus degree of stability is declined even to topple overturning, in order to travel in narrow road surface, left and right and wheel base must be made to reduce, and this make lateral direction of car and longitudinally very easily overturn; This feature limits vehicle at the driveability of complex-terrain and load-carrying capacity, makes it be only suitable for using on highway, can only also not have desirable maneuver mode at present for the landform such as path, field of person walks's walking.
Existing bionical walking robot employs very complicated multiple degree of freedom hydraulic driving mode, and this bionical manner of walking is applicable to irregular ground but then not as wheeled car on the road surface of opposed flattened, it is low that it runs dynamic efficiency, and speed is slow, not wear-resistant.
Summary of the invention
The present invention is to solve above-mentioned deficiency, provides a kind of chassis structure of the vehicle frame battery-driven car that suspends.
Above-mentioned purpose of the present invention is realized by following technical scheme: a kind of chassis structure of the vehicle frame battery-driven car that suspends, comprises vehicle frame, and described vehicle frame is provided with some groups of separate running gears;
Described running gear comprises control system, hangs motor, cantilever, wheel and power motor;
Described vehicle frame top is provided with accommodating framework, and described control system is placed in accommodating framework;
Described bottom of frame is provided with projecting shaft fixed mount, projecting shaft fixed mount holds the projecting shaft connecting horizontal direction by longitudinal rotating shaft, described cantilever upper end connecting cantilever axle, projecting shaft is connected with the output shaft hanging motor by driving gear set, cantilever lower end connects wheel, swaying direction and the wheel direct of travel of described cantilever are positioned at same plane, and described power motor is hub-type power motor, is installed on wheel; Described power motor is for driving vehicle to advance or retreating;
Described cantilever rotates around projecting shaft, regulates suspension height with this; Hang motor and provide suspension power by driving gear set to cantilever, this hangs power is for lifting vehicle frame and making wheel keep and earth surface;
Described control system comprises electronic gyroscope device, car control computer, power motor controller, hangs electric machine controller and control signal input media, described electronic gyroscope device, car control computer, power motor controller, hangs between electric machine controller and control signal input media and is connected by redundance car control data bus; Power motor controller is connected power motor respectively with suspension electric machine controller and hangs motor, and is connected with electrical source of power management system, and electrical source of power management system connects power battery pack.
The length of described projecting shaft is 0.5-5 times of vehicle frame length.
Described wheel is connected with mechanical brake device, prevents the control signal input media of control system from breaking down and cannot deceleration of electrons.
Described control system detects the level angle of vehicle frame by electronic gyroscope device, hangs motor keep the horizontal attitude of vehicle frame to stablize by driving each group.
The chassis structure of a kind of vehicle frame battery-driven car that suspends of the present invention its use the wheel of built-in wheel hub motor to drive, each wheel uses independently driving hanger to be connected with vehicle body, the suspension height that can be changed each wheel by motor-driven driving hanger significantly is fast made wheel adapt to floor level change and keeps providing enough bearing capacities with earth surface, and simultaneously by electronic gyroscope stabiliser keep the height of vehicle body and carrier and attitude relatively stable, center of gravity is all the time within security plane.This chassis can adapt to any direction change at horizontal and vertical inclination angle, ground, for the obstacle that wheel cannot be crossed, can also raise rapidly center of gravity jumping mode and pass through.For the sudden impulsive force from side direction, also by gyrocontrol mechanism, side on oscillation can be overcome to regulate the mode of suspension height and avoid toppling over, thus make vehicle allow when left-right and front-back wheelspan is less improve center of gravity and provide large load-carrying capacity.Traffic potential under complex-terrain, moving velocity, load-carrying capacity, riding stability increase substantially.
The present invention's advantage is compared with prior art: vehicle chassis of the present invention runs into fluctuating or the inclination on ground in motion, can automatically wheel be mentioned or put down, wheel is kept and earth surface, body portion then remain level and center of gravity all the time within safe range, seem to just look like that vehicle body suspension is on ground; The landform that vehicle cannot be able to be travelled at conventional vehicles normally travels; When vehicle body is subject to the impact from side thus tilts, the suspension of opposite side can raise to suppress the inclination of vehicle body and to make it recover level fast, reaches and increases steady object.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention.
Fig. 2 is the connection structure schematic diagram of each parts of control system in the present invention.
Fig. 3 is the view that the present invention walks in slope road conditions.
Fig. 4 is the view that the present invention walks in pit road conditions.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is described in further detail.
As shown in Figure 1, a kind of electric vehicle chassis of the vehicle frame 1 that suspends, comprises vehicle frame 1, and described vehicle frame 1 is provided with some groups of separate running gears; Described running gear comprises control system 2, hangs motor 3, cantilever 4, wheel 5 and power motor 6; Described vehicle frame 1 top is provided with accommodating framework 7, and described control system 2 is placed in accommodating framework 7; Projecting shaft fixed mount 8 is provided with bottom described vehicle frame 1, projecting shaft fixed mount 8 holds the projecting shaft 13 of 12 connection horizontal directions by longitudinal rotating shaft, described cantilever 4 upper end connecting cantilever axle 13, projecting shaft 13 is connected with the output shaft hanging motor 3 by driving gear set 9, cantilever 4 lower end connects wheel 5, swaying direction and wheel 5 direct of travel of described cantilever 4 are positioned at same plane, and described power motor 6 is hub-type power motor, is installed on wheel 5; The length of described cantilever 4 is 1-2 times of vehicle frame 1 length; Described power motor 6 is for driving vehicle to advance or retreating;
Described cantilever 4 rotates around projecting shaft 13, regulates suspension height with this; Hang motor 6 and provide suspension power by driving gear set 9 to cantilever 4, this hangs power is for lifting vehicle frame and making wheel keep and earth surface.
As shown in Figure 2, described control system 2 comprises electronic gyroscope device 2-1, car control computer 2-2, power motor controller 2-3, hangs electric machine controller 2-4 and control signal input media 2-5, is connected between described electronic gyroscope device 2-1, car control computer 2-2, power motor controller 2-3, suspension electric machine controller 2-4 and control signal input media 2-5 by redundance car control data bus; Power motor controller 2-3 is connected power motor 6 respectively with suspension electric machine controller 2-4 and hangs motor 3, and is connected with electrical source of power management system 10, and electrical source of power management system 10 connects power battery pack 11.The length of described projecting shaft is 0.5-5 times of vehicle frame length.
As shown in Figure 1, described wheel 5 is connected with mechanical brake device, prevents the control signal input media of control system from breaking down and cannot deceleration of electrons.
Described suspension motor 3 drives cantilever 4 to rotate by driving gear set 9, thus changes the height of vehicle frame 1 to wheel 5.In like manner, three wheels 5 are all be connected with vehicle frame 1 with same hang, can change suspension height respectively according to same mechanism.
As shown in Figure 1, Figure 2, shown in Fig. 3 and Fig. 4, in the present embodiment, described vehicle frame 1 is provided with a back boom and a trailing wheel, trailing wheel makes rear wheel direction change by the rotation horizontally rotating bearing, to adapt to the change of travel direction; In the present embodiment, by two differential change direct of travels of front vehicle wheel.During two front vehicle wheel synchronous axial system, namely promote vehicle and advance or retreat; When two front vehicle wheel rotating speeds do not wait, even travel direction changes; When two reverse differentials of front vehicle wheel constant speed rotate, vehicle can around the pivot turn of two front vehicle wheel center-points.
In the present embodiment, when electronic gyroscope device 2-1 detects that vehicle frame 1 tilts backwards, suspension motor 3 is driven to move by hanging electric machine controller 2-4, vehicle frame 1 front height is reduced, and rear height is raised, vice versa, thus car load center of gravity is maintained between front and rear wheel.
When electronic gyroscope device 2-1 detects that vehicle frame 1 tilts to the right, drive suspension motor 3 to move by hanging electric machine controller 2-4, vehicle frame 1 right-hand member height is raised and makes left side height reduction, vice versa, thus car load center of gravity is maintained between left and right wheels.
Especially, when vehicle frame 1 is subject to the external impacts from left side, also right side suspension height can be made after electronic gyroscope device 2-1 detects the trend be tilted to the right to raise, at this moment whole vehicle frame 1 center of gravity is moved and the unsettled generation of left side wheel 5 power to the left on the whole, thus suppress the trend of Right deviation and vehicle frame 1 is restored balance, reach and increase steady effect.
Concrete, because each wheel 5 of the present embodiment does not have force transfer mechanism each other, do not need mechanical connection, therefore each cantilever 4 can extend arbitrarily, thus makes suspension height have very large setting range, greatly extends the landform adaptive capacity of vehicle.
Concrete, because the vehicle frame 1 of the present embodiment is higher relative to wheel 5 ground plane height, and under gyro increases steady machine-processed effect, can automatically keep center of gravity in stability plane, therefore less in wheel 5 spacing, such as between left and right apart from 0.3-0.5 rice, before and after 0.4-0.8 rice, also namely take up an area space with human body when being equal to, allow higher carrier height, such as reach 2 meters, the load-carrying capacity of dilly is strengthened greatly.
The foregoing is only embodiments of the invention; not thereby the scope of the claims of the present invention is limited; every utilize specification sheets of the present invention and accompanying drawing content to do equivalent structure or equivalent flow process conversion; or be directly or indirectly used in other relevant technical fields, be all in like manner included in scope of patent protection of the present invention.
Claims (4)
1. suspend the chassis structure of vehicle frame battery-driven car, comprises vehicle frame, it is characterized in that: described vehicle frame is provided with some groups of separate running gears;
Described running gear comprises control system, hangs motor, cantilever, wheel and power motor;
Described vehicle frame top is provided with accommodating framework, and described control system is placed in accommodating framework;
Described bottom of frame is provided with projecting shaft fixed mount, projecting shaft fixed mount holds the projecting shaft connecting horizontal direction by longitudinal rotating shaft, described cantilever upper end connecting cantilever axle, projecting shaft is connected with the output shaft hanging motor by driving gear set, cantilever lower end connects wheel, swaying direction and the wheel direct of travel of described cantilever are positioned at same plane, and described power motor is hub-type power motor, is installed on wheel;
Described control system comprise electronic gyroscope device, car control computer, power motor controller, hang electric machine controller and and control signal input media, described electronic gyroscope device, car control computer, power motor controller, hang electric machine controller and and control signal input media between connected by redundance car control data bus; Power motor controller is connected power motor respectively with suspension electric machine controller and hangs motor, and is connected with electrical source of power management system, and electrical source of power management system connects power battery pack.
2. the chassis structure of a kind of vehicle frame battery-driven car that suspends according to claim 1, is characterized in that: the length of described projecting shaft is 0.5-5 times of vehicle frame length.
3. the chassis structure of a kind of vehicle frame battery-driven car that suspends according to claim 1, is characterized in that: described wheel is connected with mechanical brake device.
4. the chassis structure of a kind of vehicle frame battery-driven car that suspends according to claim 1, is characterized in that: described control system detects the level angle of vehicle frame by electronic gyroscope device, hangs motor keep the horizontal attitude of vehicle frame to stablize by driving each group.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510405461.1A CN104973124A (en) | 2015-07-13 | 2015-07-13 | Chassis structure of suspension frame electric vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510405461.1A CN104973124A (en) | 2015-07-13 | 2015-07-13 | Chassis structure of suspension frame electric vehicle |
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| CN104973124A true CN104973124A (en) | 2015-10-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510405461.1A Pending CN104973124A (en) | 2015-07-13 | 2015-07-13 | Chassis structure of suspension frame electric vehicle |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110753633A (en) * | 2017-03-15 | 2020-02-04 | 香港物流及供应链管理应用技术研发中心 | Self-leveling automatic guiding vehicle |
| CN111098948A (en) * | 2019-12-11 | 2020-05-05 | 中国飞机强度研究所 | Leg wheel type automobile walking mechanism and control method |
| CN112660266A (en) * | 2019-10-16 | 2021-04-16 | 丰田自动车株式会社 | Traveling body |
| CN115972845A (en) * | 2023-02-20 | 2023-04-18 | 吉林省伟宇科技有限公司 | Robot linkage |
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| CN101219682A (en) * | 2007-10-31 | 2008-07-16 | 东华大学 | Mechanical running mechanism |
| CN101439736A (en) * | 2007-11-21 | 2009-05-27 | 中国科学院沈阳自动化研究所 | All-terrain moving robot |
| JP2009202761A (en) * | 2008-02-28 | 2009-09-10 | Ihi Corp | Mobile robot and its control method |
| CN201677944U (en) * | 2010-05-26 | 2010-12-22 | 河北工业大学 | Wheel leg composite type mobile robot platform |
| CN202935151U (en) * | 2012-11-16 | 2013-05-15 | 若木智能动力（武汉）有限公司 | Four-wheel-drive independent suspension electromobile |
| JP2014019210A (en) * | 2012-07-13 | 2014-02-03 | National Institute Of Advanced Industrial & Technology | Crawler traveling type searching robot |
| CN103770663A (en) * | 2012-10-25 | 2014-05-07 | 邹帆 | Electronic-gyroscope-autostabilization multi-wheel full-driving electric car |
| CN204775462U (en) * | 2015-07-13 | 2015-11-18 | 邹帆 | Chassis structure of suspension frame electric motor car |
-
2015
- 2015-07-13 CN CN201510405461.1A patent/CN104973124A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101219682A (en) * | 2007-10-31 | 2008-07-16 | 东华大学 | Mechanical running mechanism |
| CN101439736A (en) * | 2007-11-21 | 2009-05-27 | 中国科学院沈阳自动化研究所 | All-terrain moving robot |
| JP2009202761A (en) * | 2008-02-28 | 2009-09-10 | Ihi Corp | Mobile robot and its control method |
| CN201677944U (en) * | 2010-05-26 | 2010-12-22 | 河北工业大学 | Wheel leg composite type mobile robot platform |
| JP2014019210A (en) * | 2012-07-13 | 2014-02-03 | National Institute Of Advanced Industrial & Technology | Crawler traveling type searching robot |
| CN103770663A (en) * | 2012-10-25 | 2014-05-07 | 邹帆 | Electronic-gyroscope-autostabilization multi-wheel full-driving electric car |
| CN202935151U (en) * | 2012-11-16 | 2013-05-15 | 若木智能动力（武汉）有限公司 | Four-wheel-drive independent suspension electromobile |
| CN204775462U (en) * | 2015-07-13 | 2015-11-18 | 邹帆 | Chassis structure of suspension frame electric motor car |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110753633A (en) * | 2017-03-15 | 2020-02-04 | 香港物流及供应链管理应用技术研发中心 | Self-leveling automatic guiding vehicle |
| CN112660266A (en) * | 2019-10-16 | 2021-04-16 | 丰田自动车株式会社 | Traveling body |
| CN111098948A (en) * | 2019-12-11 | 2020-05-05 | 中国飞机强度研究所 | Leg wheel type automobile walking mechanism and control method |
| CN115972845A (en) * | 2023-02-20 | 2023-04-18 | 吉林省伟宇科技有限公司 | Robot linkage |
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Application publication date: 20151014 |
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