CN106240628A - A kind of line traffic control Four wheel independent steering system based on universal drive structure - Google Patents
A kind of line traffic control Four wheel independent steering system based on universal drive structure Download PDFInfo
- Publication number
- CN106240628A CN106240628A CN201610702658.6A CN201610702658A CN106240628A CN 106240628 A CN106240628 A CN 106240628A CN 201610702658 A CN201610702658 A CN 201610702658A CN 106240628 A CN106240628 A CN 106240628A
- Authority
- CN
- China
- Prior art keywords
- wheel
- traffic control
- line traffic
- steering system
- drive structure
- 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.)
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Classifications
-
- 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
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
- B62D5/09—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle characterised by means for actuating valves
- B62D5/091—Hydraulic steer-by-wire systems, e.g. the valve being actuated by an electric motor
- B62D5/092—Hydraulic steer-by-wire systems, e.g. the valve being actuated by an electric motor the electric motor being connected to the final driven element of the steering gear, e.g. rack
-
- 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
- B60K17/358—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles all driven wheels being steerable
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
Abstract
The present invention devises a kind of line traffic control Four wheel independent steering system based on universal drive structure.This system is made up of electric rotating machine (1), decelerator (2), buffer unit (3), power transmission shaft (4), McPherson suspension system (5), rotary apparatus (6), actuating device (8) and cage universal joint (9).The power of electric rotating machine (1) crosses cage universal joint (8) and power transmission shaft (4) is input in actuating device (8), direction and the size of rotary motion is changed by gear pair therein (7), knuckle is driven to rotate via rotary apparatus (6), it is achieved wheel ± 90 ° of corners.Due to the constant speed of cage universal joint, input corner does not changes with positional parameter change with the linear relationship of wheel steering angle, adds the ability of control system opposing external interference, promote its robustness.The outer shifting that this structure is arranged by actuating device (8) simultaneously reduces kingpin inclination, to increase riding stability.
Description
Technical field
The present invention devises a kind of line traffic control Four wheel independent steering system based on universal drive structure, and this steering is suitable for
In four motorized wheels, brake, turn to intelligent vehicle, can realize each wheel ± 90 ° of corners.Belong to automobile steering system skill
Art field.
Background technology
Along with the development of automotive engineering, the active safety of automobile is more and more paid attention to.Four-wheel steering is to realize
One of method of active safety.Meanwhile, four-wheel steering automobile can realize the multiple action modes such as diagonal, Eriocheir sinensis row, pivot stud,
There is higher motility, it is adaptable to urban congestion operating mode.Therefore, this just requires that four deflecting rollers can realize ± 90 ° turn to.
Existing four-wheel steering system realizes steering procedure by track rod mostly, achieves monolateral 90 ° by hard spot design
Turn to, but owing to constructive interference problem cannot realize the change of corner ± 90 °.Other patent (CN103569197B) is led to
Crossing gear and carry out transmission, relatively big with the difference of existing automotive engineering, engineering is relatively low, is not easy to application.
The present invention devises a kind of line traffic control Four wheel independent steering system based on universal drive structure.This system is by universal
Drive mechanism and be positioned at the actuating device of McPherson suspension knuckle position, directly acts on torque at knuckle, drives
It rotates.Do not interfered by frame for movement due to it and limited, ± the corner of 90 ° change can be realized.This structure associated components, such as ball
Cage universal joint etc. is respectively provided with the design finished product of maturation.Meanwhile, compared with tradition McPherson suspension, dependency structure is arranged in making stub
Inclination angle reduces, and makes the stability of traveling increase, reduces the abrasion of tire simultaneously.Less kingpin inclination also can reduce steering force
Square, and then reduce power of motor.
Summary of the invention
It is an object of the invention to be achieved by the following measures four-wheel independent steering function.By corresponding structure by torque
Directly act at knuckle, drive knuckle to rotate, it is achieved steering procedure.Frame for movement it is not related to during this
Interference, therefore can realize corner ± 90 ° of changes.For realizing above-mentioned action, carried out the biography of power by universal drive structure
Pass, carry out the size of power and the conversion in direction by the actuating device (8) being placed on knuckle, be finally completed whole turning to
Journey.Simultaneously as tradition McPherson suspension has the advantages that kingpin inclination is bigger, therefore tire is easy to wear, simultaneously steering force
Bigger.The present invention, while realizing function, is arranged by structure and makes kingpin inclination less, improve the property of suspension system
Energy.
Being somebody's turn to do variable ratio steering system based on hydraulic system, its composition includes electric rotating machine (1), decelerator (2), delays
Flushing device (3), power transmission shaft (4), McPherson suspension system (5), rotary apparatus (6), gear pair (7), actuating device (8) and cage
Universal joint (9).Wherein, electric rotating machine (1) is connected by shaft coupling with decelerator (2) power shaft, and the output shaft of decelerator (2) is even
Connect buffer unit (3)；Power transmission shaft (4) two ends are in series with cage universal joint (9), this universal drive structure one end and buffer unit
(3) connecting, one end connects actuating device (8).Actuating device (8) is internal is gear pair (7), makes rotary motion by this structure
Size and direction change, and power reaches rotary apparatus (6) place.Rotary apparatus (6) is connected with knuckle, by this dress
It rotates to put drive.Owing to this steering system structural does not has the restriction of track rod in traditional structure, thus can realize turning to
During ± 90 degree of changes.
The material of the buffer unit (3) described in technical scheme is rubber, is shaped as annular.Buffer unit (3) is positioned at axle
Between bearing and bearing, it is achieved flexibly connecting of the two.This device can relax impact when wheel is jumped to system, is simultaneously used for relaxing
Vibration during system work.
Actuating device (8) described in technical scheme is made up of housing, gear pair (7).The input of actuating device (8) with
Cage universal joint (9) is connected, and power is through this input wherein.Actuating device (8) inner pinion gear engages composition tooth with driven gear
Wheel set (7).Under the effect of gear pair (7), size and the direction of power change.
Rotary apparatus (6) described in technical scheme is coaxially connected with driven gear, through the effect of gear pair (7), from
The size of power is transmitted at motor and decelerator (2) place and direction changes, and finally enters in rotary apparatus (6).Rotate dress
Put (6) and torque is directly acted at knuckle, drive remaining wheel jointly to rotate, it is achieved ± 90 ° of steering procedures.
Line traffic control Four wheel independent steering system in technical scheme carries out the accurate control of each corner by electronic control unit
System.In steering wheel angle signal and the incoming electronic control unit of relevant sensor signals, electronic control unit is by being calculated
Optimal four-wheel steering angle, makes four wheel independent steerings respectively.Under speed operation, for making go to action flexible, front and back wheel
Corner direction is incorgruous；Under high-speed working condition, for ease of stability control, front and back wheel corner direction is in the same direction.Meanwhile, at relevant control
Under, this line traffic control Four wheel independent steering system can realize the actions such as diagonal, Eriocheir sinensis row, pivot stud.
Line traffic control Four wheel independent steering system in technical scheme, drives knuckle to carry out turning with traditional with track rod
To steering compare, due to the constant speed of cage universal joint (9), the rotating speed that the rotating speed of motor output rotates with knuckle becomes
Linear relationship, therefore can realize the accurate control to four-wheel corner.Meanwhile, under the wheel operating mode such as jumping, conventional steering system hard
Point changes, and this makes the corner of wheel under identical rack stroke there occurs change.Control is caused during controlling
Error.The present invention passes through cage universal joint (9) and the application of power transmission shaft (4) so that motor corner and wheel steering angle when wheel is jumped
Ratio does not changes, and therefore decreases the error during control, adds the robustness of system.
Line traffic control Four wheel independent steering system in technical scheme, wherein the layout of dependency structure makes the stub of McPherson suspension
Leaning angle is reduced compared with tradition McPherson suspension, and this makes degree of tire abrasion less, and steering force reduces, and increases simultaneously
The riding stability of vehicle.
Accompanying drawing explanation
Accompanying drawing gives the structural scheme of mechanism of a kind of line traffic control Four wheel independent steering system based on universal drive structure
Fig. 1 is the three-dimensional shaft mapping of present invention line traffic control based on universal drive structure Four wheel independent steering system
Fig. 2 is the power path figure of present invention line traffic control based on universal drive structure Four wheel independent steering system
Fig. 3 is actuating device and the rotary apparatus of present invention line traffic control based on universal drive structure Four wheel independent steering system
Three-dimensional shaft mapping
Fig. 4 is the circuit controling drawing of present invention line traffic control based on universal drive structure Four wheel independent steering system
Detailed description of the invention
With reference to inventing as shown in the figure, line traffic control Four wheel independent steering system based on universal drive structure.This device is by following
Part composition: electric rotating machine (1), decelerator (2), buffer unit (3), power transmission shaft (4), McPherson suspension system (5), rotation dress
Put (6), gear pair (7), actuating device (8) and cage universal joint (9).
Referring to the drawings shown in 1, the rotary motion of motor inputs in universal drive structure after decelerator (2) slows down.This knot
Structure is made up of power transmission shaft (4) and cage universal joint (9).Afterwards, power is in this input to actuating device (8).Actuating device (8)
A part as McPherson suspension is arranged on knuckle.It is disposed with gear pair (7) in actuating device (8), passes through gear
Size and the direction of power are changed by secondary (7).Gear pair (7) be rotated device (6) motion, rotary apparatus (6) with turn
Connected by shaft coupling to joint upper end, and then drive knuckle i.e. steered wheel to move.As shown in Figure 1, due to this four
Wheel independent steering system does not has a restriction of track rod, thus can realize ± the steering procedure of 90 °.
Referring to the drawings shown in 2, for the power path figure of line traffic control Four wheel independent steering system based on universal drive structure.Its
Middle black arrow is powerdriven direction.Power by electric rotating machine (1) export, via decelerator (2), buffer unit (3), two
Individual cage universal joint (9), power transmission shaft (4), actuating device (8), gear pair (7), rotary apparatus (6), finally by torque in
Knuckle makes it move, it is achieved turning function.Being known by power transmission line, steering output is little by the change of systematic parameter,
Simultaneously as cage universal joint (9) has constant speed, when wheel is jumped, the change of hard spot parameter does not affect input corner and wheel steering angle
Linear relationship, which increase control system support jamproof ability, promote system robustness.
Referring to the drawings shown in 3, for line traffic control Four wheel independent steering system based on universal drive structure actuating device (8) and
The three-dimensional shaft mapping of rotary apparatus (6).Actuating device (8) is made up of housing and gear pair (7)；The input of actuating device (8)
Being connected with cage universal joint (9), power is in this input driving gear.Driving gear engages composition gear pair with driven gear
(7)；Under the effect of gear pair (7), size and the direction of power change, and finally enter in rotary apparatus (6).Rotate
Device (6) is series at driven gear, driven gear device (6) is rotated and rotates.
Referring to the drawings shown in 4, for the circuit controling drawing of line traffic control Four wheel independent steering system based on universal drive structure.Side
In the incoming electronic control unit of dish angular signal and relevant sensor signals, electronic control unit is optimal by being calculated
Four-wheel steering angle, makes four wheel independent steerings respectively.During low speed, control front and back wheel corner direction incorgruous, make go to action spirit
Live；During high speed, control front and back wheel corner direction in the same direction, it is simple to stability controls.Meanwhile, under relevant control, this line traffic control four-wheel
Independent steering system can realize the actions such as diagonal, Eriocheir sinensis row, pivot stud, has high motility, it is adaptable to urban congestion
Under operating mode.
Claims (7)
1. a line traffic control Four wheel independent steering system based on universal drive structure, its composition includes electric rotating machine (1), decelerator
(2), buffer unit (3), power transmission shaft (4), McPherson suspension system (5), rotary apparatus (6), gear pair (7), actuating device (8)
And cage universal joint (9)；It is characterized in that, electric rotating machine (1) is connected by shaft coupling with decelerator (2) power shaft, decelerator
(2) output shaft connects buffer unit (3)；Power transmission shaft (4) two ends are in series with cage universal joint (9), this universal drive structure one
End is connected with buffer unit (3), and one end connects actuating device (8)；Actuating device (8) is internal is gear pair (7), by this structure
The size and the direction that make rotary motion change, and power reaches rotary apparatus (6) place；Rotary apparatus (6) and knuckle
Connect, drive it to rotate by this device；Owing to this steering system structural does not has the restriction of track rod in traditional structure, because of
And can realize wheel steering angle in steering procedure ± 90 degree of changes.
2. according to the line traffic control Four wheel independent steering system based on universal drive structure described in claim 1, it is characterised in that: institute
State buffer unit (3) to be made up of rubber, be shaped as annular；It is loaded among bearing block, makes to flexibly connect between bearing and bearing block；
This device, for relaxing impact to system when wheel is jumped, is simultaneously used for vibration during mitigation system work.
3. according to the line traffic control Four wheel independent steering system based on universal drive structure described in claim 1, it is characterised in that: institute
State actuating device (8) to be made up of housing and gear pair (7)；The input of actuating device (8) is connected with cage universal joint (9), dynamic
Power is in this input driving gear；Driving gear engages composition gear pair (7) with driven gear；Under the effect of gear pair (7),
Size and the direction of power change, and finally enter in rotary apparatus (6)；Input corner is line with the relation of wheel steering angle
Sexual relationship.
4. according to the line traffic control Four wheel independent steering system based on universal drive structure described in claim 1, it is characterised in that: institute
State rotary apparatus (6) to be series at driven gear；After power reaches gear pair (7), driven gear device (6) is rotated and turns
Dynamic；Rotary apparatus (6) is connected with knuckle by ball pivot；The rotation of rotary apparatus (6) drives knuckle to rotate, it is achieved wheel
± 90 ° of corners；In this course, rotary apparatus (6) be the hub assembly of force application component, knuckle and connection thereof be stress structure
Part.
5. according to the line traffic control Four wheel independent steering system based on universal drive structure described in claim 1, it is characterised in that: institute
The steering procedure power stating line traffic control Four wheel independent steering system based on universal drive structure is exported by electric rotating machine (1), via
Decelerator (2), buffer unit (3), two cage universal joints (9), power transmission shaft (4), actuating device (8), gear pair (7), rotations
Device (6), finally drives knuckle motion, it is achieved turning function；Being known by power transmission line, steering output is joined by system
The change of number is little, simultaneously as the constant speed of cage universal joint (9), the linear relationship of input corner and wheel steering angle is not with fixed
Position Parameters variation and change, which increase control system opposing external interference ability, promote system robustness.
6. according to the line traffic control Four wheel independent steering system based on universal drive structure described in claim 1, it is characterised in that: institute
State in line traffic control Four wheel independent steering system based on universal drive structure, the feelings bigger for improving McPherson suspension caster
Condition, the outer shifting arranged by actuating device (8) is to reduce kingpin inclination；The stability making traveling increases, and reduces tire simultaneously
Abrasion；Less kingpin inclination also can reduce steering moment, and then reduces power of motor.
7. according to the line traffic control Four wheel independent steering system based on universal drive structure described in claim 1, it is characterised in that: institute
Stating in line traffic control Four wheel independent steering system based on universal drive structure, steering wheel angle signal and relevant sensor signals are incoming
In electronic control unit, electronic control unit, by being calculated optimal four-wheel steering angle, makes four wheels independently turn respectively
To；Under relevant control, this line traffic control Four wheel independent steering system can realize the actions such as diagonal, Eriocheir sinensis row, pivot stud equally.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610702658.6A CN106240628A (en) | 2016-08-22 | 2016-08-22 | A kind of line traffic control Four wheel independent steering system based on universal drive structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610702658.6A CN106240628A (en) | 2016-08-22 | 2016-08-22 | A kind of line traffic control Four wheel independent steering system based on universal drive structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106240628A true CN106240628A (en) | 2016-12-21 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610702658.6A Pending CN106240628A (en) | 2016-08-22 | 2016-08-22 | A kind of line traffic control Four wheel independent steering system based on universal drive structure |
Country Status (1)
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| CN (1) | CN106240628A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106627745A (en) * | 2016-12-23 | 2017-05-10 | 同济大学 | Drive-by-wire four-wheel independent steering system with steering motor mounted on Macpherson suspension lower swinging arm |
| CN106741143A (en) * | 2016-12-23 | 2017-05-31 | 同济大学 | Steering motor is located at the line traffic control Four wheel independent steering system of McPherson suspension knuckle |
| CN106741146A (en) * | 2016-12-23 | 2017-05-31 | 同济大学 | McPherson suspension knuckle is provided with the line traffic control Four wheel independent steering system of steering motor |
| CN107719099A (en) * | 2017-09-05 | 2018-02-23 | 杭州伯坦科技工程有限公司 | Four wheels of electric automobile independently drives independent steering actuating mechanism and performs method |
| CN111572629A (en) * | 2020-06-23 | 2020-08-25 | 江西小马机器人有限公司 | Robot chassis with four independently steered wheels |
| CN112829821A (en) * | 2019-11-22 | 2021-05-25 | 财团法人工业技术研究院 | Steering apparatus and method |
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| CN102887058A (en) * | 2012-10-15 | 2013-01-23 | 同济大学 | Speed reducing type electric drive system in integrated McPherson hanger bracket wheel |
| CN103085875A (en) * | 2013-02-27 | 2013-05-08 | 同济大学 | Integrated line control independent turning suspension frame guide mechanism system |
| CN205890974U (en) * | 2016-08-22 | 2017-01-18 | 吉林大学 | Drive -by -wire four -wheel independent steering device system based on universal transmission structure |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106627745A (en) * | 2016-12-23 | 2017-05-10 | 同济大学 | Drive-by-wire four-wheel independent steering system with steering motor mounted on Macpherson suspension lower swinging arm |
| CN106741143A (en) * | 2016-12-23 | 2017-05-31 | 同济大学 | Steering motor is located at the line traffic control Four wheel independent steering system of McPherson suspension knuckle |
| CN106741146A (en) * | 2016-12-23 | 2017-05-31 | 同济大学 | McPherson suspension knuckle is provided with the line traffic control Four wheel independent steering system of steering motor |
| CN106627745B (en) * | 2016-12-23 | 2019-12-03 | 同济大学 | Steering motor is located at the line traffic control Four wheel independent steering system of McPherson suspension lower swing arm |
| CN107719099A (en) * | 2017-09-05 | 2018-02-23 | 杭州伯坦科技工程有限公司 | Four wheels of electric automobile independently drives independent steering actuating mechanism and performs method |
| CN112829821A (en) * | 2019-11-22 | 2021-05-25 | 财团法人工业技术研究院 | Steering apparatus and method |
| US11548552B2 (en) | 2019-11-22 | 2023-01-10 | Industrial Technology Research Institute | Steering device and method thereof |
| CN111572629A (en) * | 2020-06-23 | 2020-08-25 | 江西小马机器人有限公司 | Robot chassis with four independently steered wheels |
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| C06 | Publication | ||
| PB01 | Publication | ||
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Application publication date: 20161221 |