CN106114114A - The four-wheel independent suspension device of a kind of combined tractor and AC Driving System - Google Patents
The four-wheel independent suspension device of a kind of combined tractor and AC Driving System Download PDFInfo
- Publication number
- CN106114114A CN106114114A CN201610783583.9A CN201610783583A CN106114114A CN 106114114 A CN106114114 A CN 106114114A CN 201610783583 A CN201610783583 A CN 201610783583A CN 106114114 A CN106114114 A CN 106114114A
- Authority
- CN
- China
- Prior art keywords
- wheel
- driving
- motor
- independent suspension
- vehicle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G15/00—Resilient suspensions characterised by arrangement, location or type of combined spring and vibration damper, e.g. telescopic type
-
- 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
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
-
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
Abstract
The invention belongs to towing vehicle field, particularly relate to four-wheel independent suspension device and the AC Driving System of a kind of combined tractor, including suspension arrangement with exchange driving control system, each wheel is respectively adopted double leval jib independent suspension, one group of steering respectively installed by each wheel, by AC Driving System, use electric control system structure distribution formula to control, central processing unit realize the overall control walked and turn to；By electrically controlled manipulation, each wheel can discharge required precalculated position state, each predetermined location status, and the vehicle that correspondence is kept straight on, turned respectively, traversing, diagonal, cast etc. are different runs pattern.The present invention improves handling, reliability and the riding comfort of vehicle of vehicle, and this invention can make tractor complete tune the operation such as road, shifting storehouse of vehicle in less space.
Description
Technical field
The invention belongs to towing vehicle field, be specifically related to the four-wheel independent suspension device of a kind of combined tractor
And AC Driving System.
Background technology
Chinese Railway industry is flourish, and the shunting service of locomotive needs combined tractor, combined tractor
It is that one both may be used for highway traction goods, the industrial vehicle of goods can be drawn again on railway.Turning of existing vehicle
To system, mostly being front wheel shimmy and turn to, pendulum angle is limited, and trailing wheel is fixed from turning to, and therefore the radius of turn of vehicle is relatively big,
Turning needs space relatively big, and head end operation requisite space is bigger, it is generally required to forward-reverse the most just can complete.
Chinese Patent Application No. 201310413547.X (filing date 2013.9.12) " a kind of four motorized wheels is only
Stand and turn to electronic orchard operation car ", including body frame structure for automotive, it is used for supporting other mechanical mechanisms, it is provided that a carrying platform；Single-wheel
The independent independent steering structure that drives, outfit direct current generator, decelerator, DC motor driver.Four-wheel independent direct current drives at electricity
Dynamic orchard operation car has been applied, but the handling difference of this drive system, reliability is low, efficiency is low and without suspended shock damper,
The demand of road rail vehicle cannot be met, so research electric road rail vehicle four-wheel independent suspension device and exchange drive
System has great importance.
The present invention is electronic road rail vehicle independent suspension device and AC Driving System, and this invention can make the manipulation of vehicle
Property, reliability, efficiency improve, add independent suspension device, the riding comfort of vehicle improves, and this invention can make vehicle
Tune the operation such as road, shifting storehouse of vehicle is completed in less space.
Summary of the invention
For solving the problems referred to above, the invention provides four-wheel independent suspension device and the exchange of a kind of combined tractor
Drive system.
It is an object of the invention to be achieved through the following technical solutions:
The four-wheel independent suspension device of a kind of combined tractor and AC Driving System, including suspension arrangement with exchange
Driving control system.
As the resilient suspension system of the present invention, including spring damper, support, fixing support, connecting rod and connecting rod are fixed
Frame.One end of described connecting rod is connected with the fixing support on car body, and the other end is connected to connecting rod fixed mount, and each wheel is adopted respectively
Using double leval jib independent suspension, before and after each wheel, symmetric position respectively installs two connecting rods；Described spring damper one end is arranged on
In support below vehicle frame, the other end is arranged on the left end of motor support.Independent suspension can make four wheels the most upper and lower
Motion, double leval jib hangs and drastically reduce the area direction impulsive force before and after road surface, it is ensured that with contacting of ground, it is ensured that OK
The stability sailed.So tractor can not only travel in flat road surface, it is also possible to travels smoothly on hollow, uneven road
Face.Compared with rigid suspended vehicle, the present invention make tractor travel more stable, safer, take more comfortable.
As the AC Driving System of the present invention, including driving motor, steer motor, encoder, motor support, deceleration
Machine, shaft coupling, tooth sector and electric control system.Described driving motor, steer motor and encoder are arranged on motor support
Above, described tooth sector is arranged on below motor support；Before and after described motor support, both sides and connecting rod fixed mount are welded on one
Rise；Power supply is changed into alternating current by inverter the unidirectional current of accumulator battery, controls to drive motor by AC driving device
And steer motor；Described driving motor is connected with driving wheel by shaft coupling, and described steer motor is connected to what driving wheel was connected
Tooth sector, each wheel can each autorotation ± 180 degree, each wheel independently drives, using single-wheel structure as unit；At this base
On plinth, four-wheel walking mechanism is uniformly controlled, forms overall walking mode, use electric control system structure distribution formula to control,
Realized the overall control walked and turn to by central processing unit；By electrically controlled manipulation, each wheel can be discharged required
Precalculated position state, each predetermined location status, the most corresponding different vehicle runs pattern, including: keep straight on, turn
Curved, traversing, diagonal, cast, fixed point are turned, low-angle cornering mode.So vehicle is in running, it is possible to according to
The concrete condition of road, selects different operational modes, passes through.
Beneficial effect:
1. the present invention can meet combined vehicle, at Special zone, accurately runs operation, and large area is saved
Road or operating area take up an area, and save vehicle hour and distance.
2. the present invention uses four-wheel standalone elastic suspension arrangement, decreases direction impulsive force before and after road surface, it is ensured that
With contacting of ground, it is ensured that the stability of traveling, such tractor can not only travel in flat road surface, it is also possible to smoothly
Travel on hollow, uneven road surface, make tractor travel more stable, safer.
3. rotation direction and the angle of each wheel of the present invention can independently control, and can realize min. turning radius almost
Zero, this makes combined tractor have stronger adaptation ability in the case of complex road surface and steering angle are narrow and small.
4. the present invention uses AC driving device to control to drive motor and steer motor, and alternating current generator has efficiency height, knot
Structure is simple, solid reliable, non-maintaining, volume is little, lightweight, to be prone to cool down (can be directly to electronics and rotor oil spout), life-span long
Deng many advantages.
5. the present invention uses electric control system structure distribution formula to control, and electric control system also will not be because of certain equipment
Disengaging and the phenomenon that system structure is collapsed occurs, each node device can depart from the case of electric control system solely
Stand the operation of its own system, thus meet the needs of electronic rail-road vehicle safety in operation.
Accompanying drawing explanation
Fig. 1 is the spring suspension device schematic diagram of the present invention；
Fig. 2 is the single wheel drive system schematic of the present invention；
Fig. 3 is the single wheel drive system front view of the present invention；
Fig. 4 is the electric control system structure control figure of the combined tractor of the present invention；
Fig. 5 is that the different of the combined tractor of the present invention travel pattern diagram.
As Figure 1-5: support 1, spring damper 2, driving motor 3, steer motor 4, encoder 5, shaft coupling 6, company
Bar fixed mount 7, motor support 8, tooth sector 9, reductor 10, driving wheel 11, connecting rod 12, fixing support 13.
Detailed description of the invention
The present invention is described in further detail below in conjunction with the accompanying drawings.
The four-wheel independent suspension device of a kind of combined tractor and AC Driving System, including suspension arrangement with exchange
Driving control system.
The four-wheel independent suspension device of a kind of combined tractor, including spring damper 2, support 1, fixing support
13, connecting rod 12 and connecting rod fixed mount 7.One end of connecting rod 12 is connected with the fixing support 13 on car body, and the other end is connected to connecting rod
Fixed mount 7, before and after each wheel, symmetric position respectively installs two connecting rods 12, and each wheel is respectively adopted double leval jib independent suspension；
One end of spring damper 2 is arranged in the support 1 below vehicle frame, and the other end is arranged on the left end of motor support 8.Independent suspension
Four wheels can be made independently to move up and down, and double leval jib hangs and drastically reduce the area direction impulsive force before and after road surface,
Guarantee and the contacting of ground, it is ensured that the stability of traveling.So tractor can not only travel in flat road surface, it is also possible to flat
Steady travels on hollow, uneven road surface.Compared with rigid suspended vehicle, the present invention make tractor travel more stable, safer,
Take more comfortable.
As the AC Driving System of the present invention, including driving motor 3, steer motor 4, encoder 5, motor support 8, subtracting
Speed machine 10, shaft coupling 6, tooth sector 9 and electric control system structure.Motor 3, steer motor 4 and encoder 5 is driven to be arranged on
Above motor support 8, tooth sector 9 is arranged on below motor support 8；Before and after motor support 8, both sides are welded with connecting rod fixed mount 7
Together；Power supply is changed into alternating current by inverter the unidirectional current of accumulator battery, controls to drive by AC driving device
Motor 3 and steer motor 4；The driving motor 3 of driving wheel 11 is connected with driving wheel 11 by shaft coupling 6, driving wheel steer motor 4
Connect the tooth sector 9 that is connected with driving wheel, each wheel can each autorotation ± 180 degree, each wheel independently drives, with single-wheel
Structure is as unit；On this basis, four-wheel walking mechanism is uniformly controlled, forms overall walking mode, use CAN control
System, is realized the overall control walked and turn to by central processing unit, and by electrically controlled manipulation, each wheel can be discharged required
Precalculated position state, each predetermined location status, respectively corresponding different vehicle runs pattern, including: keep straight on,
Turn, traversing, diagonal, cast, fixed point are turned, low-angle cornering mode.So, vehicle is in running, it is possible to
According to the concrete condition of road, select different operational modes, pass through.
Claims (4)
1. the four-wheel independent suspension device of a combined tractor and AC Driving System, it is characterised in that: include hanging
Device with exchange driving control system, described suspension arrangement includes spring damper (2), supports (1), fixing support (13), even
Bar (12) and connecting rod fixed mount (7), described AC Driving System include drive motor (3), steer motor (4), encoder (5),
Motor support (8), reductor (10), shaft coupling (6), tooth sector (9) and electric control system；
One end of described connecting rod (12) is connected with the fixing support (13) on car body, and the other end is connected to connecting rod fixed mount (7), often
Individual wheel is respectively adopted double leval jib independent suspension, and before and after each wheel, symmetric position respectively installs two connecting rods (12)；
Described spring damper (2) one end is arranged in the support (1) below vehicle frame, and the other end is arranged on motor support (8)
Left end；
Described driving motor (3), steer motor (4) and encoder (5) are arranged on motor support (8) above, described tooth sector
(9) being arranged on motor support (8) below, before and after described motor support (8), both sides weld together with connecting rod fixed mount (7)；
Described driving motor (3) is connected with driving wheel (11) by reductor (10), and described steer motor (4) is connected to driving wheel
(11) tooth sector (9) being connected.
The four-wheel independent suspension device of a kind of combined tractor the most according to claim 1 and AC Driving System,
It is characterized in that: the power supply in described electric control system is changed into alternating current by inverter the unidirectional current of accumulator battery,
Control to drive motor (3) and steer motor (4) by AC driving device.
The four-wheel independent suspension device of a kind of combined tractor the most according to claim 1 and AC Driving System,
It is characterized in that: the central processing unit in described electric control system includes walking and turns to pattern the control of tractor.
The four-wheel independent suspension device of a kind of combined tractor the most according to claim 3 and AC Driving System,
It is characterized in that: described walking and turn to pattern to comprise craspedodrome, turning, traversing, diagonal, cast, fixed point are turned, little
Angle is turned.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610783583.9A CN106114114A (en) | 2016-08-31 | 2016-08-31 | The four-wheel independent suspension device of a kind of combined tractor and AC Driving System |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610783583.9A CN106114114A (en) | 2016-08-31 | 2016-08-31 | The four-wheel independent suspension device of a kind of combined tractor and AC Driving System |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106114114A true CN106114114A (en) | 2016-11-16 |
Family
ID=57273856
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610783583.9A Pending CN106114114A (en) | 2016-08-31 | 2016-08-31 | The four-wheel independent suspension device of a kind of combined tractor and AC Driving System |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106114114A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106628912A (en) * | 2017-01-19 | 2017-05-10 | 广西曼彻彼斯自动化设备有限公司 | Small rail logistics car driving gear buffering device |
| CN107244201A (en) * | 2017-05-05 | 2017-10-13 | 清华大学 | 360 degree of unilateral independent suspension systems of omnidirectional |
| CN108505798A (en) * | 2018-05-30 | 2018-09-07 | 北京石油化工学院 | A kind of six trains heavy duty can automatic charging intelligent parking robot |
| CN108995711A (en) * | 2018-07-09 | 2018-12-14 | 北京理工大学 | A kind of all-wheel steering motorized vehicle chassis independently driven |
| CN109353407A (en) * | 2018-09-19 | 2019-02-19 | 西安交通大学 | A kind of omnidirectional running vehicle modulesization driving steering system and vehicle |
| JP2019104460A (en) * | 2017-12-14 | 2019-06-27 | 株式会社豊田自動織機 | Steering device |
| CN110816254A (en) * | 2018-08-10 | 2020-02-21 | 岳克森 | Wheel independent driving assembly with motor positioned above wheel |
| CN111377008A (en) * | 2018-12-29 | 2020-07-07 | 徐州徐工铁路装备有限公司 | Steering system, vehicle and vehicle steering method |
| CN113307184A (en) * | 2021-05-31 | 2021-08-27 | 合肥井松智能科技股份有限公司 | Heavy-load stacking forklift type AGV |
| CN114906219A (en) * | 2022-04-22 | 2022-08-16 | 北京艾上智能科技有限公司 | Independent suspension device of four-wheel-drive four-steering unmanned vehicle |
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| DE102013211535A1 (en) * | 2013-06-19 | 2014-12-24 | Zf Friedrichshafen Ag | Steerable suspension |
| CN205951653U (en) * | 2016-08-31 | 2017-02-15 | 青岛四机设备工程有限公司 | Independent linkage of four -wheel and AC drive system of combined tractor |
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2016
- 2016-08-31 CN CN201610783583.9A patent/CN106114114A/en active Pending
Patent Citations (5)
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| CN102717696A (en) * | 2012-06-21 | 2012-10-10 | 上海中科深江电动车辆有限公司 | Independent driving, steering and suspending system |
| CN103253177A (en) * | 2013-04-15 | 2013-08-21 | 中铁二局集团新运工程有限公司 | Self-propelled channel beam transport vehicle |
| CN103318423A (en) * | 2013-06-07 | 2013-09-25 | 南京航空航天大学 | Manned lunar rover |
| DE102013211535A1 (en) * | 2013-06-19 | 2014-12-24 | Zf Friedrichshafen Ag | Steerable suspension |
| CN205951653U (en) * | 2016-08-31 | 2017-02-15 | 青岛四机设备工程有限公司 | Independent linkage of four -wheel and AC drive system of combined tractor |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106628912A (en) * | 2017-01-19 | 2017-05-10 | 广西曼彻彼斯自动化设备有限公司 | Small rail logistics car driving gear buffering device |
| CN107244201A (en) * | 2017-05-05 | 2017-10-13 | 清华大学 | 360 degree of unilateral independent suspension systems of omnidirectional |
| JP2019104460A (en) * | 2017-12-14 | 2019-06-27 | 株式会社豊田自動織機 | Steering device |
| JP7067047B2 (en) | 2017-12-14 | 2022-05-16 | 株式会社豊田自動織機 | Steering device |
| CN108505798A (en) * | 2018-05-30 | 2018-09-07 | 北京石油化工学院 | A kind of six trains heavy duty can automatic charging intelligent parking robot |
| CN108995711A (en) * | 2018-07-09 | 2018-12-14 | 北京理工大学 | A kind of all-wheel steering motorized vehicle chassis independently driven |
| CN110816254A (en) * | 2018-08-10 | 2020-02-21 | 岳克森 | Wheel independent driving assembly with motor positioned above wheel |
| CN109353407A (en) * | 2018-09-19 | 2019-02-19 | 西安交通大学 | A kind of omnidirectional running vehicle modulesization driving steering system and vehicle |
| CN111377008A (en) * | 2018-12-29 | 2020-07-07 | 徐州徐工铁路装备有限公司 | Steering system, vehicle and vehicle steering method |
| CN113307184A (en) * | 2021-05-31 | 2021-08-27 | 合肥井松智能科技股份有限公司 | Heavy-load stacking forklift type AGV |
| CN114906219A (en) * | 2022-04-22 | 2022-08-16 | 北京艾上智能科技有限公司 | Independent suspension device of four-wheel-drive four-steering unmanned vehicle |
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Legal Events
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|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20161116 |
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| RJ01 | Rejection of invention patent application after publication |