CN105667587B - A kind of walking steering mechanism of electric car - Google Patents
A kind of walking steering mechanism of electric car Download PDFInfo
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- CN105667587B CN105667587B CN201610012176.8A CN201610012176A CN105667587B CN 105667587 B CN105667587 B CN 105667587B CN 201610012176 A CN201610012176 A CN 201610012176A CN 105667587 B CN105667587 B CN 105667587B
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- 230000007246 mechanism Effects 0.000 title claims abstract description 24
- 230000008878 coupling Effects 0.000 claims abstract description 13
- 238000010168 coupling process Methods 0.000 claims abstract description 13
- 238000005859 coupling reaction Methods 0.000 claims abstract description 13
- 238000013016 damping Methods 0.000 claims 2
- 239000007787 solid Substances 0.000 claims 1
- 238000011065 in-situ storage Methods 0.000 abstract description 9
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 5
- 238000003912 environmental pollution Methods 0.000 description 3
- 230000035939 shock Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 239000006096 absorbing agent Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000002803 fossil fuel Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000003345 natural gas Substances 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
- B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/30—Arrangement or mounting of transmissions in vehicles the ultimate propulsive elements, e.g. ground wheels, being steerable
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/34—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles
- B60K17/356—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles having fluid or electric motor, for driving one or more wheels
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
Abstract
本发明公开了一种电动车的行走转向机构，属于电动车设计制造技术领域。它能实现电动车的原地旋转、横向行走及斜向行走功能。方向盘总成的下端设有与前齿条啮合的第一齿轮，前齿条的两端分别设有与其铰接的第一连杆；底盘两侧纵梁的两端设有前横梁和后横梁，两侧纵梁中部设有中轴，中轴的中部设有与主动齿轮啮合的从动齿轮，联轴节的开口端上部与轮毂转向部铰接,联轴节与前横梁和后横梁两端的通孔铰接，联轴节另一端与第一连杆铰接，主动连杆的中部与中轴固定，主动连杆的两端分别与第二连杆的一端铰接，第二连杆的另一端与第三连杆的一端铰接，第三连杆的另一端穿过定位孔与齿条套筒固定。主要用于电动车。
The invention discloses a traveling steering mechanism of an electric vehicle, which belongs to the technical field of electric vehicle design and manufacture. It can realize the functions of in-situ rotation, lateral walking and oblique walking of the electric vehicle. The lower end of the steering wheel assembly is provided with the first gear meshing with the front rack, and the two ends of the front rack are respectively provided with the first connecting rod hinged with it; The middle part of the longitudinal beams on both sides is equipped with a central shaft, and the middle part of the central shaft is provided with a driven gear meshing with the driving gear. The upper part of the open end of the coupling is hinged with the steering part of the wheel hub. The hole is hinged, the other end of the coupling is hinged to the first connecting rod, the middle part of the active connecting rod is fixed to the central axis, the two ends of the active connecting rod are respectively hinged to one end of the second connecting rod, and the other end of the second connecting rod is connected to the first connecting rod. One end of the three connecting rods is hinged, and the other end of the third connecting rod passes through the positioning hole and is fixed with the rack sleeve. Mainly used for electric vehicles.
Description
技术领域technical field
本发明属于电动车辆设计制造技术领域。The invention belongs to the technical field of electric vehicle design and manufacture.
背景技术Background technique
随着石油，天然气等化石燃料的迅速消耗，以及由此带来的能源危机和环境污染日益加剧，开发并利用新的、清洁的、安全的可再生能源以及降低污染排放量成为了全球关注的两大焦点。而汽车的发展不仅加大了地球资源的消耗，同时也增加了污染排放量。我国作为世界大国，资源紧缺与环境污染尤为显著。因此发展电动汽车成为了汽车工业发展的必然趋势，近期出现的全国范围的雾霾现象更是提高了这一呼声。电动汽车的发展有利于缓解资源紧缺与环境污染问题，所以增加其转向的灵活性，能够更加方便快捷地满足人们的需求，With the rapid consumption of fossil fuels such as oil and natural gas, and the resulting energy crisis and environmental pollution, the development and utilization of new, clean and safe renewable energy and the reduction of pollution emissions have become global concerns Two focal points. The development of automobiles has not only increased the consumption of earth resources, but also increased pollution emissions. As a big country in the world, our country suffers from shortage of resources and environmental pollution. Therefore, the development of electric vehicles has become an inevitable trend in the development of the automobile industry, and the recent nationwide smog phenomenon has increased this call. The development of electric vehicles is conducive to alleviating the shortage of resources and environmental pollution, so increasing the flexibility of its steering can meet people's needs more conveniently and quickly.
据检索，目前已有四轮独立驱动全转向机构的技术出现，例如中国专利申请号200810000129.7公开的“电动汽车横向行进及原地旋转的转向控制方法及其装置”，该专利所述的全向控制机构虽然能够实现汽车的原地旋转及其横向行走，但由于其所用蜗轮蜗杆以及丝杠螺母的传动比比较小，使转向速度很慢；另外，该发明用了丝杠螺母、蜗轮蜗杆等传动机构，使总体结构比较复杂。再如中国专利申请号2015100801606公开了“一种基于轮毂电机的电动汽车全方位转向系统”，所述的全向控制方法是在小车的四个车轮旁边分别安装一个电机，独立控制各轮的转向，该方法不但会增加整车重量，还增加控制难度。以上两个专利所述的全向控制方法都只能在传统转向的基础上增加原地旋转和横向行走功能，在斜向行走功能方面还有所欠缺。According to the search, the technology of four-wheel independent drive full steering mechanism has appeared at present. Although the control mechanism can realize the in-situ rotation and lateral running of the automobile, the steering speed is very slow due to the relatively small transmission ratio of the worm gear and the screw nut used in it; The transmission mechanism makes the overall structure more complicated. Another example is that Chinese patent application No. 2015100801606 discloses "an all-round steering system for electric vehicles based on in-wheel motors". The omnidirectional control method is to install a motor next to the four wheels of the car to independently control the steering of each wheel. , this method will not only increase the weight of the vehicle, but also increase the difficulty of control. The omnidirectional control methods described in the above two patents can only increase the functions of in-situ rotation and lateral walking on the basis of traditional steering, and are still lacking in the oblique walking function.
发明内容Contents of the invention
本发明的目的是提供一种电动车的行走转向机构，它能实现电动车的原地旋转、横向行走及斜向行走功能，大大提高了电动汽车转向的灵活性及多样性，使电动汽车在泊车与调头方面也更加方便快捷。The object of the present invention is to provide a walking steering mechanism for an electric vehicle, which can realize the functions of in-situ rotation, lateral running and oblique walking of the electric vehicle, greatly improves the flexibility and diversity of the electric vehicle steering, and enables the electric vehicle Parking and turning around are also more convenient and quicker.
本发明达到其目的所采用的技术方案是，一种电动车的行走转向机构，包括底盘、带有轮毂电机、制动盘和减震装置的四个车轮以及方向盘总成，其主要技术特点在于：方向盘总成的下端设有与前齿条啮合的第一齿轮，前齿条的两端分别设有与其铰接的第一连杆；底盘两侧纵梁的两端设有前横梁和后横梁，两侧纵梁中部的上表面设有中轴的轴承座，中轴的两端通过轴承与轴承座固定，中轴的中部设有与主动齿轮啮合的从动齿轮，中轴的侧下方的安装板上设有第一电机，主动齿轮与第一电机的输出轴固定；联轴节的开口端上部与轮毂转向部铰接,联轴节的开口端下部与减震装置铰接,联轴节靠近开口端的通孔与前横梁和后横梁两端的通孔铰接，联轴节另一端的通孔与第一连杆的另一端铰接，主动连杆的中部与中轴两端靠近轴承座内侧的位置固定，两端设有定位孔的定位横梁平行设置在中轴两侧；主动连杆的两端分别与第二连杆的一端铰接，第二连杆的另一端与第三连杆的一端铰接，第三连杆的另一端穿过定位孔与齿条套筒固定；后横梁的中部设有第二电机的安装座，第二电机的输出轴与后齿条啮合的第二齿轮固定。The technical solution adopted by the present invention to achieve its purpose is that a walking steering mechanism of an electric vehicle includes a chassis, four wheels with hub motors, brake discs and shock absorbers, and a steering wheel assembly. Its main technical features are: : The lower end of the steering wheel assembly is provided with the first gear meshing with the front rack, and the two ends of the front rack are respectively provided with the first connecting rod hinged with it; the two ends of the longitudinal beams on both sides of the chassis are provided with a front beam and a rear beam , the upper surface of the middle part of the longitudinal beams on both sides is provided with the bearing seat of the central shaft, the two ends of the central shaft are fixed with the bearing seat through bearings, the middle part of the central shaft is provided with a driven gear meshing with the driving gear, and the lower side of the central shaft The first motor is arranged on the installation plate, and the output shaft of the driving gear is fixed to the first motor; The through hole at the opening end is hinged with the through holes at both ends of the front beam and the rear beam, the through hole at the other end of the coupling is hinged with the other end of the first connecting rod, and the middle part of the active connecting rod and the two ends of the central shaft are close to the inside of the bearing seat Fixed, the positioning beams with positioning holes at both ends are arranged in parallel on both sides of the central axis; the two ends of the active connecting rod are respectively hinged with one end of the second connecting rod, and the other end of the second connecting rod is hinged with one end of the third connecting rod , the other end of the third connecting rod passes through the positioning hole and is fixed with the rack sleeve; the middle part of the rear beam is provided with a mounting seat for the second motor, and the output shaft of the second motor is fixed with the second gear engaged with the rear rack.
所述联轴节共有四个，它们分别与前横梁和后横梁的两端一一铰接。There are four couplings, which are respectively hinged with the two ends of the front beam and the rear beam.
所述第三连杆共有四支，它们的一端分别穿过定位横梁两侧的定位孔，与两端的齿条套筒固定。There are four third connecting rods, one end of which respectively passes through the positioning holes on both sides of the positioning beam, and is fixed with the rack sleeves at both ends.
所述第二连杆共有四支，它们的一端分别与设在中轴两端的主动连杆的两端铰接，另一端与第三连杆的一端铰接。There are four second connecting rods, one end of which is respectively hinged with the two ends of the active connecting rod arranged at the two ends of the central axis, and the other end is hinged with one end of the third connecting rod.
所述齿条套筒共有两支，它们分别与前齿条和后齿条配合设置。There are two rack sleeves, which are arranged in cooperation with the front rack and the rear rack respectively.
所述第一电机和第二电机均为步进电机。Both the first motor and the second motor are stepping motors.
本发明的工作过程和工作原理：首先传统的正常转向控制是，通过操纵方向盘来控制齿轮齿条的运动，从而实现汽车前轮的左右转动；其次原地旋转和横向行走是通过电机来带动一套连杆机构的运动，从而使与连杆机构相连的前、后齿条套筒相互靠近，当靠近到一定位置时，四个轮子会转动相应的角度，使四个轮子的方位弧线刚好呈一个圆形，从而通过控制各自轮毂电机的转向可以实现汽车的原地旋转，当齿条套筒继续靠近到最短距离时，四个轮子相互平行并且与底盘横梁平行，因此通过控制各自轮毂电机的转向实现横向行走；另外，通过控制方向盘使前轮转动一定角度，再通过后轮独立的转向控制电机控制后轮转动相应角度，使前后轮呈同一斜度平行，从而实现电动汽车的斜向行走。The working process and working principle of the present invention: firstly, the traditional normal steering control is to control the movement of the rack and pinion by manipulating the steering wheel, thereby realizing the left and right rotation of the front wheels of the automobile; secondly, the in situ rotation and lateral walking are driven by a motor The movement of the connecting rod mechanism makes the front and rear rack sleeves connected with the connecting rod mechanism close to each other. When they are close to a certain position, the four wheels will rotate at a corresponding angle, so that the azimuth arc of the four wheels is just right. It is a circle, so that the car can be rotated in situ by controlling the steering of the respective hub motors. When the rack sleeve continues to approach to the shortest distance, the four wheels are parallel to each other and the chassis beam, so by controlling the respective hub motors In addition, by controlling the steering wheel to make the front wheels turn a certain angle, and then control the rear wheels to turn the corresponding angle through the independent steering control motor of the rear wheels, so that the front and rear wheels are parallel to the same slope, so as to realize the oblique direction of the electric vehicle. walk.
与现有技术比较，本发明的有益效果是：Compared with prior art, the beneficial effects of the present invention are:
本发明的全转向机构只涉及到齿轮齿条间的传动，传动比会比较大，从而使转向比较迅速敏捷。The full steering mechanism of the present invention only involves the transmission between the rack and pinion, and the transmission ratio will be relatively large, so that the steering is more rapid and agile.
本发明的转向驱动装置只用到两个电机，其中一个电机能通过特殊的连杆组合机构来统一控制前后轮的转向，从而实现电动车原地旋转及横向行走；另一个带电机单独控制后轮转向，以配合前轮的传统转向控制来实现电动车的斜向行走。所以总体上减少了电机的数量，降低了底盘重量，增大了经济性，并且增加了斜向行走功能。The steering drive device of the present invention only uses two motors, one of which can uniformly control the steering of the front and rear wheels through a special connecting rod combination mechanism, thereby realizing the in-situ rotation and lateral walking of the electric vehicle; Wheel steering, in order to cooperate with the traditional steering control of the front wheel to realize the oblique walking of the electric vehicle. Therefore, the number of motors is reduced overall, the weight of the chassis is reduced, the economy is increased, and the function of diagonal travel is increased.
本发明的核心是连杆组合机构，使得车辆的整体结构简单、可靠。The core of the invention is the link combination mechanism, which makes the overall structure of the vehicle simple and reliable.
附图说明Description of drawings
图1是本发明纵向行驶状态三维图Fig. 1 is a three-dimensional diagram of the longitudinal running state of the present invention
图2是本发明横向行驶状态三维图Fig. 2 is a three-dimensional diagram of the lateral running state of the present invention
图3是本发明的底盘三维图Fig. 3 is a three-dimensional view of the chassis of the present invention
图4是本发明的两前轮(或两后轮)间连接机构三维图Fig. 4 is a three-dimensional view of the connecting mechanism between two front wheels (or two rear wheels) of the present invention
图5是本发明的联轴节关联零件局部三维图Fig. 5 is a partial three-dimensional view of the associated parts of the coupling of the present invention
图6是本发明的后桥转向机构三维图Fig. 6 is a three-dimensional view of the rear axle steering mechanism of the present invention
图7是本发明的前后桥同步转向传动机构局部三维图Fig. 7 is a partial three-dimensional view of the front and rear axle synchronous steering transmission mechanism of the present invention
具体实施方式detailed description
下面结合附图和具体实施方式，对本发明做进一步的详细说明。The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.
一种电动车的行走转向机构，包括底盘4、带有轮毂电机、制动盘19和减震装置20的四个车轮1以及方向盘总成23，其主要特点在于：方向盘总成23的下端设有与前齿条26啮合的第一齿轮13，前齿条26的两端分别设有与其铰接的第一连杆3；底盘4两侧纵梁的两端设有前横梁24和后横梁25，两侧纵梁中部的上表面设有中轴22的轴承座21，中轴22的两端通过轴承与轴承座21固定，中轴22的中部设有与主动齿轮14啮合的从动齿轮15，中轴 22的侧下方的安装板上设有第一电机16，主动齿轮14与第一电机16的输出轴固定；联轴节2的开口端上部与轮毂转向部12铰接,联轴节2的开口端下部与减震装置20铰接,联轴节2靠近开口端的通孔与前横梁24和后横梁25两端的通孔铰接，联轴节2另一端的通孔与第一连杆3的另一端铰接，主动连杆11的中部与中轴22两端靠近轴承座21内侧的位置固定，两端设有定位孔10的定位横梁9平行设置在中轴22两侧；主动连杆11的两端分别与第二连杆5的一端铰接，第二连杆5的另一端与第三连杆8的一端铰接，第三连杆8的另一端穿过定位孔10与齿条套筒7固定；后横梁25的中部设有第二电机18的安装座，第二电机18的输出轴与后齿条6啮合的第二齿轮17固定。A walking steering mechanism for an electric vehicle, comprising a chassis 4, four wheels 1 with hub motors, a brake disc 19 and a shock absorbing device 20, and a steering wheel assembly 23, its main features are: the lower end of the steering wheel assembly 23 is set There is a first gear 13 meshing with the front rack 26, the two ends of the front rack 26 are respectively provided with the first connecting rod 3 hinged thereto; The upper surface of the middle part of the longitudinal beams on both sides is provided with the bearing housing 21 of the central shaft 22, the two ends of the central shaft 22 are fixed with the bearing housing 21 through bearings, and the middle part of the central shaft 22 is provided with the driven gear 15 meshing with the driving gear 14 The first motor 16 is arranged on the mounting plate below the side of the central shaft 22, and the output shaft of the driving gear 14 is fixed to the first motor 16; The lower part of the opening end of the shaft coupling 2 is hinged with the shock absorbing device 20, the through hole near the opening end of the coupling 2 is hinged with the through holes at the two ends of the front beam 24 and the rear beam 25, and the through hole at the other end of the coupling 2 is connected with the first connecting rod 3. The other end is hinged, the middle part of the active connecting rod 11 and the two ends of the central shaft 22 are fixed near the inside of the bearing seat 21, and the positioning beams 9 with positioning holes 10 at both ends are arranged in parallel on both sides of the central shaft 22; The two ends are respectively hinged with one end of the second connecting rod 5, the other end of the second connecting rod 5 is hinged with one end of the third connecting rod 8, and the other end of the third connecting rod 8 passes through the positioning hole 10 and the rack sleeve 7 Fixed; the middle part of the rear beam 25 is provided with a mounting seat of the second motor 18, and the output shaft of the second motor 18 is fixed with the second gear 17 engaged with the rear rack 6.
所述联轴节2共有四个，它们分别与前横梁24和后横梁25的两端一一铰接。There are four couplings 2, and they are respectively hinged with the two ends of the front beam 24 and the rear beam 25 one by one.
所述第三连杆8共有四支，它们的一端分别穿过定位横梁9两侧的定位孔10，与两端的齿条套筒7固定。There are four third connecting rods 8, one end of which respectively passes through the positioning holes 10 on both sides of the positioning beam 9, and is fixed with the rack sleeves 7 at both ends.
所述第二连杆5共有四支，它们的一端分别与设在中轴22两端的主动连杆11的两端铰接，另一端与第三连杆8的一端铰接。There are four second connecting rods 5 , one end of which is respectively hinged with the two ends of the active connecting rod 11 arranged at the two ends of the central axis 22 , and the other end is hinged with one end of the third connecting rod 8 .
所述齿条套筒7共有两支，它们分别与前齿条26和后齿条6配合设置。There are two rack sleeves 7, which are arranged in cooperation with the front rack 26 and the rear rack 6 respectively.
所述第一电机16和第二电机18均为步进电机。Both the first motor 16 and the second motor 18 are stepping motors.
本发明的工作过程和工作原理：首先传统的正常转向控制是，通过操纵方向盘来控制齿轮齿条的运动，从而实现车辆前轮的左右转动；其次原地旋转和横向行走是通过电机来带动一套连杆组合机构的运动，从而使与连杆机构相连的前后齿条套筒相互靠近，当靠近到一定位置时，四个轮子会转动相应的角度，使四个轮子的方位弧线刚好呈一个圆形，从而通过控制各自轮毂电机的转动可以实现车辆的原地旋转，当齿条套筒继续靠近到最短距离时，四个轮子相互平行并且与底盘横梁平行，因此通过控制各自轮毂电机的转动实现横向行走；另外，通过控制方向盘使前轮转动一定角度，再通过后轮独立的转向控制电机控制后轮转动相应角度，使前后轮呈同一斜度平行，从而实现电动车的斜向行走。The working process and working principle of the present invention: firstly, the traditional normal steering control is to control the movement of the rack and pinion by manipulating the steering wheel, thereby realizing the left and right rotation of the front wheels of the vehicle; secondly, the in situ rotation and lateral walking are driven by a motor The movement of the connecting rod combination mechanism makes the front and rear rack sleeves connected with the connecting rod mechanism close to each other. When they are close to a certain position, the four wheels will rotate at a corresponding angle, so that the azimuth arcs of the four wheels are exactly in the shape of A circle, so that the vehicle can be rotated in situ by controlling the rotation of the respective hub motors. When the rack sleeve continues to approach to the shortest distance, the four wheels are parallel to each other and the chassis beam, so by controlling the rotation of the respective hub motors Rotate to achieve horizontal walking; in addition, by controlling the steering wheel to make the front wheels turn a certain angle, and then control the rear wheels to turn the corresponding angle through the independent steering control motor of the rear wheels, so that the front and rear wheels are parallel to the same slope, so as to realize the oblique walking of the electric vehicle .
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