CN106080764B - The motor-driven logistic car of four wheel hubs - Google Patents

Abstract

A logistics vehicle driven by a four-wheel hub motor. In the shock absorbing system, the left and right sides of the upper end of each set of leaf springs of the front shock absorbing mechanism are connected to the longitudinal beam of the frame, and the middle part of the lower end of each set of leaf springs is connected to the front axle; the rear shock absorbing mechanism The left side of the upper end of each set of leaf springs is connected to the frame longitudinal beam with pins, the right side is connected to the rocker bracket with pins, and the rocker bracket is connected to the frame longitudinal beams with pins. The middle part of the lower end of each set of leaf springs It is fixedly connected with the rear axle; there are fixed sleeves at both ends of the front axle, and the fixed sleeve is movably fitted with the shaft fixed to the upper end of the steering bracket. The motor controller is installed on the frame; the steering wheel is connected to the steering controller through the steering shaft; the steering controller is equipped with a four-bar steering linkage mechanism for miniature cars; the turntable motor is fixedly connected to the frame, and the output shaft of the turntable motor is connected to the upper end of the steering bracket. The fixed shafts are connected through couplings, and rotary encoders are installed on the rotary motors.

Description

Logistics vehicles driven by four-wheel hub motors

technical field

The invention relates to a pure electric logistics vehicle which is driven by four-wheel hub motors and can realize lateral running, longitudinal running, in-situ steering and turning of the vehicle at any angle.

Background technique

With the development of industrial mechanization and automation, mechanized cargo handling has been widely popularized, and freight logistics vehicles with different functions, large and small, have been shuttled on urban roads or factory transportation industries, which is convenient for people's work and life. However, in the existing logistics handling, the vehicle is often limited to the movement in the forward and backward direction, and when the vehicle turns, the driver needs to turn the steering wheel and adjust the wheel to an appropriate angle several times to achieve a smooth turn, which increases the complexity of the turning operation. Sex, especially in a small space, is not conducive to the smooth turning of the vehicle.

Contents of the invention

The purpose of this invention is to design a pure electric logistics vehicle whose wheels can automatically rotate according to a predetermined angle, realize the horizontal and vertical driving of the vehicle, turn in place and turn at any angle, and solve the problems caused by the narrow space of the vehicle. Difficulty in driving operations.

The technical scheme adopted for realizing the above-mentioned purpose of the invention is:

A logistics vehicle driven by a four-wheel hub motor mainly includes a frame, a power supply, a drive system, a braking system and a shock absorption system. It is equipped with carport, control platform, adjustable seat, power supply, steering bracket and wheels, and also includes steering control system;

The shock absorbing system includes a front shock absorbing mechanism and a rear shock absorbing mechanism, and both the front and rear shock absorbing mechanisms include two sets of leaf springs; The beam is connected with a pin shaft, and the middle part of the lower end of each group of leaf springs is connected with the front axle with a rotating shaft; the left side of the upper end of each group of leaf springs of the rear shock absorbing mechanism is connected with the frame longitudinal beam with a pin shaft, and the right side is connected with the rocker The bracket is connected with a pin shaft, and the rocker bracket is connected with the frame longitudinal beam with a pin shaft, and the middle part of the lower end of each group of leaf springs is fixedly connected with the rear axle; The shaft fixed to the upper end of the steering bracket is movably fitted together, and the bearings of the two are connected together; the wheel is installed under the steering bracket, and the hub motor is installed on the wheel, and the hub motor controller is installed on the frame;

The steering control system includes a steering wheel, a steering shaft, a steering controller, a turntable motor, an angle encoder, and an angle sensor; the steering wheel is connected to the steering controller through the steering shaft; Rod mechanism; the turntable motor is fixedly connected to the vehicle frame, the output shaft of the turntable motor is connected to the fixed shaft at the upper end of the steering bracket through a coupling, and the turntable motor is equipped with a rotary angle encoder.

The steering four-bar linkage mechanism of a miniature car is composed of a frame, connecting rod a, connecting rod b, and connecting rod c, wherein the frame is the upper wall of the steering controller, and the middle position of the connecting rod c is provided with a pin hole. An angle sensor for collecting the movement angles of the connecting rod a and the connecting rod b is arranged inside.

The upper end of the steering shaft is fixedly connected with the steering wheel, and the lower end passes through the upper wall of the steering controller to be threaded to a steering shaft nut, and turning the steering wheel drives the steering shaft nut to rotate in the steering controller.

A vertical tie rod is fixedly connected on the steering shaft nut, and the vertical tie rod moves vertically up and down along the pin hole in the middle of the connecting rod c in the four-bar linkage of the miniature car, and the rotation of the steering wheel drives the movement of the four-bar linkage of the miniature car.

The two ends of the steering shaft nut are symmetrically and fixedly connected to the tie rods, and the two ends of the tie rods are provided with hook holes.

The steering controller is equipped with a spring return device to realize the automatic return function of the steering wheel angle.

One end of the return spring is hung in the hook holes at both ends of the tie rod, and the other end is symmetrically fixed on the upper wall of the steering controller.

Steering wheel angle left and right limit devices are set in the steering controller, including left and right limit position switches, and left and right limit position contacts; when the steering wheel turns to the left and right limit positions, the return spring squeezes the left and right limit positions The position contact makes the left and right limit position switches conduct, and transmits the left and right limit position signals to the steering controller, and then controls the rotation of the corresponding turntable motor.

The drive system of the logistics vehicle is driven by four hub motors, which are installed in each wheel correspondingly, and the four hub motors are controlled by the same accelerator pedal.

Compared with the prior art, the present invention combines the kinematics principle of automobile steering, sets up the miniature automobile steering four-bar linkage mechanism, utilizes steering wheel, angle encoder, steering controller, etc. In the working environment, it realizes horizontal and vertical driving, in-situ steering and turning at any angle, which reduces the complexity of vehicle turning operations, improves turning efficiency, removes the traditional mechanical steering structure, and saves chassis space.

Description of drawings

Fig. 1 is the front view of the present invention.

Fig. 2 is a top view of the vehicle frame, damping mechanism and steering structure of the present invention.

Fig. 3 is a side view of the vehicle frame, damping mechanism and steering structure of the present invention.

Figure 4 is a schematic structural diagram of the steering control mechanism.

In the figure: 1-wheel, 2-rotating shaft, 3-brake pedal, 4-accelerator pedal, 5-steering controller, 6-steering shaft, 7-control platform, 8-steering wheel, 9-carport, 10-seat, 11-frame longitudinal beam, 12-power supply, 13-corner encoder, 14-turntable motor, 15-rocker bracket, 16-leaf spring, 17-front axle, 18-steering bracket, 19-rear axle, 20 -pin shaft, 21-connecting rod a, 22-connecting rod b, 23-left limit position switch, 24-left limit position contact, 25-return spring, 26-tie rod, 27-right limit position contact, 28 -right limit position switch, 29-connecting rod c, 30-vertical tie rod, 31-steering shaft nut, 32-controller upper wall, 33-angle sensor.

Detailed ways

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

Referring to the accompanying drawings 1-4, the logistics vehicle disclosed in the present invention is a pure electric logistics vehicle driven by four-wheel hub motors, which can realize horizontal driving, longitudinal driving, in-situ steering and turning of the vehicle at any angle. The vehicle mainly includes: frame, power supply, drive system, braking system, shock absorption system, steering control system and other parts. The rod mechanism uses the steering wheel, the angle encoder, and the steering controller to automatically control the angle of each steering wheel, realizing the vehicle's horizontal and vertical driving, in-situ steering and turning at any angle.

The frame is mainly welded by the frame longitudinal beam 11, the front axle 17, and the rear axle 19. The carport 9, the control platform 7, the adjustable seat 10, the power supply 12, the steering bracket 18 and the wheels 1 are installed on the frame. Structure, as shown in Figures 1, 2, and 3.

The logistics vehicle drive system disclosed in the present invention is driven by four hub motors, which are installed in each wheel correspondingly, and the four hub motors are controlled by the same accelerator pedal 4 .

The shock absorbing system of this logistics vehicle includes: a front shock absorbing mechanism and a rear shock absorbing mechanism. The front damping mechanism and the rear shock absorbing mechanism are all made up of two groups of leaf springs 16, and their arrangement structure is as shown in Figures 1 and 2. The left and right sides of the upper end of each group of leaf springs of the front shock absorbing mechanism are connected with the frame longitudinal beam 11 by the pin shaft 20, and the middle part of the lower end of each group of leaf springs is connected with the front axle 17 by the rotating shaft 2 to form a front shock absorber with the function of balancing the vehicle body. mechanism. The left side of the upper end of each group of plate springs of the rear shock absorbing mechanism is connected with the vehicle frame longitudinal beam 11 with a pin, and the right side is connected with the rocker bracket 15 with a pin, and the rocker bracket 15 is connected with the vehicle frame longitudinal beam 11 with a pin. The middle part of the lower end of each group of leaf springs is fixedly connected with the rear axle 19 to form a shock absorbing mechanism after the rocker. The above-mentioned front shock absorbing mechanism and rear shock absorbing mechanism are respectively connected to the front axle, the rear axle, and the longitudinal beam of the vehicle frame, which eliminates the different torques generated when the vehicle is running on an uneven road or the wheels meet a bump.

The two ends of this logistics vehicle front axle 17 are fixedly connected with fixed cover respectively, and fixed cover and the fixed shaft movable sleeve of steering bracket 18 upper ends are together, and the two bearings are matched and connected so that steering bracket rotates freely around the vertical direction. The wheel 1 is installed below the steering bracket, the hub motor is installed on the wheel, and the hub motor controller is installed on the vehicle frame.

The steering control system is mainly composed of steering wheel 8, steering shaft 6, steering controller 5, turntable motor 14, rotation angle encoder 13, angle sensor 33 and other parts. The steering wheel 8 is connected with the steering controller 5 through the steering shaft 6, as shown in FIG. 1 . The steering controller is provided with a miniature car steering four-bar linkage mechanism, as shown in Figure 4, comprising: frame, connecting rod a, connecting rod b, connecting rod c, wherein the frame is the upper wall of the steering controller, connected A pin hole is provided at the middle position of the rod c, and an angle sensor is provided inside the steering controller to collect the movement angles of the steering wheel, the connecting rod a, and the connecting rod b. The rotation of the steering wheel drives the movement of the four-bar linkage mechanism of the miniature car, and the calculation and processing of the steering wheel angle signal collected by the angle sensor, the angle signal of the movement of connecting rod a and connecting rod b in the steering controller, and the position of the turntable motor shaft collected by the rotary encoder Signal, and then control the movement of each turntable motor.

Steering wheel rotation drives the rotation method of the four-bar linkage mechanism of the miniature car: the upper end of the steering shaft 6 is fixedly connected with the steering wheel 8, and the lower end passes through the upper wall of the steering controller to be threaded to a steering shaft nut 31, and the steering wheel drives the steering shaft nut in the steering control. rotate in the machine. A vertical tie rod 30 is fixedly connected to the steering shaft nut, and the vertical tie rod can move vertically up and down along the pin hole in the middle of the connecting rod c in the four-bar linkage mechanism of the miniature car, and the rotation of the steering wheel drives the four-bar linkage mechanism of the miniature car sports.

The turntable motor 14 is fixedly connected on the vehicle frame, and the output shaft of the turntable motor is connected with the fixed shaft at the upper end of the steering bracket 18 by a coupling, so that the rotation of the turntable motor drives the steering bracket to rotate around the vertical direction, and then drives the rotation of the wheels. The turntable motor is provided with a rotation angle encoder 13 to collect the rotation angle of the turntable motor.

The present invention is provided with the spring return device that realizes the automatic return function of steering wheel angle, and its structure is shown in Figure 4, and the two ends of rotating shaft nut are fixedly connected tie rod 26, and tie rod two ends are provided with hook hole, and one end of reset spring 25 Hang in the hook holes at both ends of the tie rod, and the other end is symmetrically fixed on the upper wall of the steering controller.

The present invention also sets steering wheel angle left and right limiter, mainly by left limit position switch 23, left limit position contact 24, right limit position switch 28, the parts such as right limit position contact 27 are made up, as shown in Figure 4. When the steering wheel turned to the limit position, the back-moving spring 25 extruded the left limit position contact 24 or the right limit position contact 27, so that the left limit position switch 23 or the right limit position switch 28 were turned on, and the left and right limit position signals were transmitted to Turn to the controller, and then control the rotation of the corresponding turntable motor.

The logistics vehicle of the present invention is provided with a control platform 7, which is installed on the right side of the steering wheel in the shed to facilitate the driver's operation, and mainly includes: a vehicle power start switch, a control handle for longitudinal forward or backward travel, and a lateral left or right travel control handle , turn driving switch, parking button.

In each working mode of this logistics vehicle, the angle of each wheel is controlled through the steering wheel, angle sensor, angle encoder, steering controller, turntable motor, etc.

1) When the logistics vehicle of the present invention is driving forward, the steering controller controls the rear wheel rotation angle to be 0 degrees, and the front wheels are turned; when driving backward, the steering controller controls the front wheel rotation angle to be 0 degrees, and the rear wheels are turned.

2) When the logistics vehicle of the present invention travels laterally, the steering controller controls the corners of the four wheels to be 90 degrees to the vehicle frame.

Claims (7)

1. a kind of motor-driven logistic car of four wheel hubs, mainly including vehicle frame, electrical source of power, drive system, braking system and subtract Shake system, vehicle frame are mainly formed by longitudinal beam, preceding bridge, rear-axle welding, and bicycle shed is equipped on vehicle frame, report control platform, is adjusted Seat, electrical source of power, steering bracket and wheel, it is characterised in that：Further include steering control system；

The shock mitigation system includes preceding damping and rear damping, and forward and backward damping includes two groups of leaf springs；It is described Every group of leaf spring of preceding damping upper end at left and right sides of connect with longitudinal beam with axis pin, among every group of leaf spring lower end position and Preceding bridge is connected with shaft；Connect on the left of the upper end of described every group of leaf spring of rear damping with longitudinal beam with axis pin, right side and Rocker bracket is connected with axis pin, and rocker bracket is connect again with longitudinal beam with axis pin, position and rear axle among every group of leaf spring lower end It is fixedly connected；The both ends of the preceding bridge have been respectively and fixedly connected with fixing sleeve, fixing sleeve and the affixed axis movable sleeve in steering bracket upper end It is fitted together, the connection of the two bearing fit；The wheel is mounted below steering bracket, and wheel hub motor is equipped on wheel, Hub motor control device is mounted on vehicle frame；

The steering control system includes steering wheel, steering shaft, steering controller, rotary tray motor, angle-position encoder, angle and passes Sensor；Steering wheel is connect by steering shaft with steering controller；Minicar is provided in the steering controller and turns to four Link mechanism；The rotary tray motor is fixedly connected on vehicle frame, and rotary tray motor output shaft leads to the affixed axis in steering bracket upper end Shaft coupling connection is crossed, angle-position encoder is respectively arranged on rotary tray motor.

2. the motor-driven logistic car of four wheel hubs according to claim 1, which is characterized in that the minicar turns to Four-bar mechanism is made of rack, connecting rod a, connecting rod b, connecting rod c, wherein upper wall of the rack for steering controller, the centre of connecting rod c Position be equipped with pin shaft hole, steering controller be internally provided with for acquire connecting rod a and connecting rod b movement angle angle sensor Device.

3. the motor-driven logistic car of four wheel hubs according to claim 1, which is characterized in that steering shaft upper end and steering wheel It is fixedly connected, lower end passes through the upper wall of steering controller to be threadedly coupled a steering shaft nut, and steering wheel rotation drives steering shaft spiral shell Mother rotates in steering controller.

4. the motor-driven logistic car of four wheel hubs according to claim 3, which is characterized in that on the steering shaft nut A vertical connecting rod is fixedly connected with, vertical connecting rod is done along the pin shaft hole that minicar is turned in four-bar mechanism among connecting rod c on vertical Under movement, the rotation of steering wheel drives minicar to turn to parallel motion.

5. the motor-driven logistic car of four wheel hubs according to claim 3, which is characterized in that the steering shaft nut Both ends are symmetrically fixedly connected with drag link, and drag link is provided at both ends with hook hole；It is provided in steering controller and realizes that steering wheel turns The spring reverse motion of angle self-return function；One end of resetting spring is hung in the hook hole at drag link both ends, the other end pair Title is fixed on the upper wall of steering controller.

6. the motor-driven logistic car of four wheel hubs according to claim 5, which is characterized in that setting side in steering controller To the left and right limiting device of disk corner, including left and right extreme position switch and left and right extreme position contact；When steering wheel turns During to left and right extreme position, resetting spring squeezes left and right extreme position contact, makes left and right extreme position switch conduction, a left side, Limit on the right-right-hand limit position signal sends steering controller to, and then controls the rotation of corresponding rotary tray motor.

7. the motor-driven logistic car of four wheel hubs according to claim 1, which is characterized in that the logistic car driving system It unites as four In-wheel motor drivings, four wheel hub motors, which correspond to, to be mounted in each wheel, and four wheel hub motors are controlled by same accelerator pedal.