CN106394153A - Travelling and steering servo driving wheel integrating hydraulic brake and suspension system - Google Patents
Travelling and steering servo driving wheel integrating hydraulic brake and suspension system Download PDFInfo
- Publication number
- CN106394153A CN106394153A CN201611048476.8A CN201611048476A CN106394153A CN 106394153 A CN106394153 A CN 106394153A CN 201611048476 A CN201611048476 A CN 201611048476A CN 106394153 A CN106394153 A CN 106394153A
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- China
- Prior art keywords
- suspension
- steering
- straight trip
- module
- brake
- Prior art date
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G13/00—Resilient suspensions characterised by arrangement, location or type of vibration dampers
- B60G13/02—Resilient suspensions characterised by arrangement, location or type of vibration dampers having dampers dissipating energy, e.g. frictionally
- B60G13/06—Resilient suspensions characterised by arrangement, location or type of vibration dampers having dampers dissipating energy, e.g. frictionally of fluid type
- B60G13/10—Resilient suspensions characterised by arrangement, location or type of vibration dampers having dampers dissipating energy, e.g. frictionally of fluid type pneumatic
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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
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
- B60T13/745—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive acting on a hydraulic system, e.g. a master cylinder
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- 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
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2200/00—Indexing codes relating to suspension types
- B60G2200/40—Indexing codes relating to the wheels in the suspensions
- B60G2200/422—Driving wheels or live axles
Abstract
A travelling and steering servo driving wheel integrating hydraulic brake and suspension system comprises a suspension box, a suspension, a straight-moving transmission chain, a steering transmission chain, a shock absorption module, a brake module and a controlling module. A rotary support is arranged between the suspension box and the suspension, the straight-moving transmission chain is connected with the shock absorption module, and the shock absorption module and the brake module are both arranged on the suspension; the steering transmission chain comprises a steering actuating mechanism and a steering testing mechanism, the steering actuating mechanism is connected with the suspension box and the outer circle of the rotary support in sequence, and the output end of the steering actuating mechanism is connected with the inner circle of the rotary support and the suspension in sequence. The steering testing mechanism is arranged on the suspension box and connected with the steering actuating mechanism through a gear in a drive mode, and the controlling module comprises a straight-moving speed closed-loop control unit, a steering position closed-loop control unit and a brake control unit. The driving wheel is compact in structure and good in operation, integrates a driving device, an electronic controlling device, a brake device, a block absorption device, a testing device and a controlling device as a whole, and is precise in speed and angle control.
Description
Technical field
The present invention relates to a kind of for robot and motor vehicles walking and the hydraulic braking that is integrated with turning to suspension be
The servo drive wheel of system, belongs to machine-walking and steering technique field.
Background technology
The outstanding achievement that science and technology is brought has penetrated into the every aspect of our lives, particularly in automobile industry, is similar to
Automatic parking, cruise, or even automatic Pilot is nowadays all of common occurrence.Good manipulates sense, comfortable running environments, height
Although the private customized grade of level can attract most notice, turn to the limitation in space, the single true of motion mode
It is the short slab covered in a development of automobile incessantly.
Although also have now much adopting the all-around mobile vehicle that Mecanum wheel or the dispersion of many wheel bodys drive,
It is mostly the extraordinary carrier of miniaturization, or workshop AGV (automatical pilot transportation vehicle) etc., really it is not introduced into daily civilian
Field.
Need badly at present one kind can in parking or traveling 360 ° of pivot studs, and irregular potted road surface is had
Strong stably passes through the walking of performance and turns to servo drive wheel.
Content of the invention
In order to overcome the shortcomings of that prior art exists, the present invention provides a kind of collection to drive, automatically controlled, brake, damping, detection,
Control device is in one, compact conformation, the walking of handling good integration hydraulic brake and suspension and steering servo-drive
Wheel.
The integration hydraulic brake of the present invention and the walking of suspension and steering servo drive wheel, using following technical sides
Case：
This walking and steering servo drive wheel, including suspension basket, suspension, straight trip driving-chain, turn to driving-chain, damping mould
Group, brake module and control module；It is provided with revolving support between suspension basket and suspension；Straight trip driving-chain is with damping module even
Connect, damping module and brake module are installed on suspension；Turn to driving-chain to include steering power mechanism and turn to testing agency,
Steering power mechanism is connected in turn with the outer ring of suspension basket and revolving support, the output end of steering power mechanism with return
Turn support inner ring and suspension be connected in turn, turn to testing agency be arranged on suspension basket and with steering power mechanism
Connected by gear drive；Module is controlled to include keep straight on velocity close-loop control unit, steering position Closed Loop Control Unit and brake
Control unit；Straight trip driving-chain is connected by controlling bus with straight trip velocity close-loop control unit；Steering power mechanism and steering
Testing agency is connected by controlling bus with steering position Closed Loop Control Unit；Brake module is connected with brake control unit.
Described steering power mechanism, including turning to servomotor and decelerator, decelerator is connected to decelerator mounting flange
On, the outer ring of decelerator mounting flange, suspension basket and revolving support is connected in turn, and the input of decelerator and steering are watched
Take motor connection, the output end of decelerator is provided with survey corner one-stage gear, survey corner one-stage gear, the inner ring of revolving support with
Suspension is connected in turn, and turns to servomotor and is connected with steering position Closed Loop Control Unit by controlling bus.
Described steering testing agency, supports including surveying corner absolute value encoder, survey corner double-reduction gear and gear
Frame, surveys corner absolute value encoder and is arranged on gear support frame, survey corner secondary gear be arranged in gear support frame and with
Survey corner one-stage gear engagement in steering power mechanism, surveys corner secondary gear and is connected with surveying corner absolute value encoder, tooth
Wheeling supporting frame is arranged on suspension basket, surveys corner absolute value encoder and passes through controlling bus with steering position Closed Loop Control Unit even
Connect.
Described brake module, including Linear-electric-cylinder, hydraulic oil pump, disk brake and disk brake caliper；Linear-electric-cylinder is installed
On suspension, hydraulic oil pump is connected with Linear-electric-cylinder, and hydraulic oil pump is connected with disk brake caliper by oil hose, and disk brake is pacified
It is contained on the wheel axis in straight trip driving-chain, disk brake caliper is arranged in the support plate in straight trip driving-chain, Linear-electric-cylinder
It is connected with brake control unit by controlling bus.
Described straight trip driving-chain, tests the speed absolute value including tire, wheel rim, wheel hub motor, wheel axis, support plate and straight trip
Encoder, wheel hub motor is arranged on the wheel rim in tire, and wheel axis one end is connected with wheel hub motor, one end and damping module
In line slideway fixed mount connect, wheel axis is provided with disk brake and straight trip tested the speed one-stage gear, support plate is fixed in
On line slideway fixed mount in damping module, the straight trip absolute value encoder that tests the speed is arranged in support plate, and straight trip is tested the speed definitely
It is provided with value encoder and tests the speed secondary gear with the straight trip that one-stage gear engages of testing the speed of keeping straight on, wheel hub motor and straight trip are tested the speed absolutely
Value encoder is all connected with straight trip velocity close-loop control unit by controlling bus.Described straight trip is tested the speed one-stage gear and straight trip
Test the speed secondary gear gearratio be 11:4.
Described damping module, including elastic damping cylinder, linear bearing, line slideway and line slideway fixed mount, elasticity
Damping cylinder one end is connected on suspension, and the other end is connected with line slideway fixed mount by bearing pin, and line slideway is fixed on directly
On line guide rails fixing support, linear bearing is arranged on line slideway and is fixed on suspension.
The course of work of above-mentioned driving wheel is as follows：
When straight trip, power source is wheel hub motor, and rate signal gives by host computer, by gear drive by actual wheel
Velocity feedback is to straight trip speed measuring coder one end, and then rate signal is transferred to control module straight trip velocity close-loop control unit
In, and make comparisons with given speed, according to error transfer factor speed preset after correction.When wheel steering, steering angle signal by
Host computer gives, and steering power mechanism direct drive suspension rotates, and its corner is fed back to steering testing agency simultaneously, and then angle
Degree signal feeds back in steering position Closed Loop Control Unit, and makes comparisons with given angle, according to error transfer factor corner after correction
Given.Damping module is mainly used in wheel row to the buffering and shock preventing on hollow ground.When needing brake, on the one hand control in module
Straight trip velocity close-loop control unit receives the In-wheel motor driving that host computer signal disconnects straight trip driving-chain, on the other hand controls mould
Brake control unit in group receives host computer signal, controls brake module to complete brake.
Present configuration is compact, and assembling is easy, handling good；Have the characteristics that：
1. compact to design, integrate multiple functional module group；By a wheel hub motor and a steering brushless type direct current servo
Motor provides, and integrates driving, automatically controlled, brake, damping, detection, control device.Wheel is simply compact with car body interface, speed
Degree, Angle ambiguity are accurate.
2. can in parking or traveling 360 ° of pivot studs, GOTO field extends to 360 °, straight trip speed and steering angle
Degree adopts closed-loop control, and motion is accurately.
3. there is passive energy dissipation buffering and hydraulic explosion-proof disc brake function, for irregular potted road surface, there is stronger stablizing
By performance, it all can show preferable dynamic and operation by stopping when irregular hogwallow or high speed at a high speed
Sense.
Brief description
Fig. 1 is the walking that integration hydraulic brake of the present invention is with suspension and the schematic appearance of steering servo drive wheel.
Fig. 2 is the structural representation turning to driving-chain in the present invention.
Fig. 3 is the structural representation of brake module in the present invention.
Fig. 4 is that the knot of straight trip driving-chain in the present invention makes schematic diagram.
Fig. 5 is the structural representation of damping module in the present invention.
In figure：1. suspension basket, 2. suspension, 3. control module, 4. steering power mechanism, 5. turn to testing agency, 6. brake
Module, driving-chain of 7. keeping straight on, 8. damping module；
401. steering servomotors, 402. motor mounting flanges, 403. harmonic speed reducers, 404. survey corner one-stage gear,
405. decelerator mounting flanges, 406. revolving support；
501. survey corner absolute value encoders, 502. encoder mounting flanges, 503. deep groove ball bearings, 504. survey corners two
Level gear, 505. gear support frames；
601. Linear-electric-cylinders, 602. hydraulic oil pumps, 603. disk brakes, 604. disk brake calipers, 605. oil hoses；
701. tires, 702. wheel hub motors, 703. wheel rims, 704. straight trips are tested the speed one-stage gear, 705. wheel axis, and 706.
Straight trip is tested the speed secondary gear, 707. support plates, and 708. straight trips are tested the speed absolute value encoder；
801. elastic damping cylinders, 802. line slideway fixed mounts, 803. spacing block rubbers, 804. linear bearings, 805.
Line slideway.
Specific embodiment
The integration hydraulic brake of the present invention and the walking of suspension and steering servo drive wheel, as shown in figure 1, include outstanding
Hang case 1, suspension 2, straight trip driving-chain 7, turn to driving-chain, damping module 8, brake module 6 and control module 3.Suspension basket 1 passes through
Revolving support 406 is connected (referring to Fig. 2) with suspension 2.Turn to driving-chain to include steering power mechanism 4 and turn to testing agency 5
(referring to Fig. 2).Steering power mechanism 4 is installed in the top of suspension basket 1 with turning to testing agency 5, and is placed in suspension basket 1.
Module 3 is controlled to include keep straight on velocity close-loop control unit, steering position Closed Loop Control Unit and brake control unit,
Three control units are integrated in control box, and control box is arranged on suspension basket 1 and is placed in inside suspension basket 1.Closed-loop control list
Unit can adopt prior art, is all analog circuit.In straight trip velocity close-loop control unit and steering position Closed Loop Control Unit
Including signal amplifier, arithmetic unit, actuator, signals collecting and feedback module.Host computer Setting signal can be voltage, also may be used
Think electric current, after amplifying by the amplified device of difference compared with wheel actual feedback signal (voltage or electric current), drawing
Give arithmetic unit further, actual control voltage or electric current are applied to by electrical components by the calculating of arithmetic unit, enter
And revise straight trip speed and crank degree, reach the effect of straight trip speed servo and crank degree servo.And brake control unit
Need not feed back, so relatively than the collection of the above two default signal and feedback module, remainder and principle are identical.
As shown in Fig. 2 steering power mechanism 4 includes turning to servomotor 401, decelerator 403 and surveys corner one-stage gear
404.Turn to servomotor 401 and adopt brushless DC servomotor, decelerator 403 is using accurate harmonic speed reducer.Turn to servo
Motor 401 is arranged on motor mounting flange 402, and motor mounting flange 402 is connected on the shell of decelerator 403, decelerator
403 are arranged on decelerator mounting flange 405, and the input of decelerator 403 is connected with turning to servomotor 401, decelerator 403
Output end be provided with survey corner one-stage gear 404.Revolving support 406 as connection arrangement, including can relatively rotate
Inner ring and outer ring.By bolt, the outer ring of decelerator mounting flange 405, suspension basket 1 and revolving support 406 is connected in turn one
Rise, survey corner one-stage gear 404, the inner ring of revolving support 406 and suspension 2 and be connected in turn by stay bolt.
Turn to testing agency 5 to include surveying corner absolute value encoder 501, encoder mounting flange 502, deep groove ball bearing
503rd, corner double-reduction gear 504 and gear support frame 505 are surveyed.Survey corner absolute value encoder 501 and be fixed on encoder admittedly
Determine to be meshed on flange 502 and with surveying corner secondary gear 504, survey corner secondary gear 504 and installed by deep groove ball bearing 503
Engage in gear support frame 505 and with surveying corner one-stage gear 404.The installation axle surveying corner secondary gear 504 stretches out gear
Bracing frame 505 is simultaneously connected with surveying corner absolute value encoder 501 by jackscrew.Gear support frame 505 is arranged on the interior of suspension basket 1
On portion bottom surface.Encoder mounting flange 502 is fixed on suspension basket 1.
Turn to servomotor 401 and survey corner absolute value encoder 501 all by data/address bus and steering position closed loop control
Unit processed connects, and accepts the direct control of steering position Closed Loop Control Unit.Survey the detection signal of corner absolute value encoder 501
It is transferred directly among steering position Closed Loop Control Unit by controlling bus.
Turning to servomotor 401 drives suspension 2 to rotate after decelerator 403 deceleration, realizes wheel steering；Rotating speed simultaneously
Pass to survey corner absolute value encoder 501 by surveying corner one-stage gear 404 with engaging of survey corner secondary gear 504, real
Turn now to detect.Surveying corner one-stage gear 404 with the gearratio surveying corner secondary gear 504 is 1:1.
As shown in figure 3, brake module 6 includes Linear-electric-cylinder 601, hydraulic oil pump 602, disk brake 603 and disk brake caliper
604；Linear-electric-cylinder 601 is installed on the side of suspension 2, and hydraulic oil pump 602 is connected on Linear-electric-cylinder 601, hydraulic oil pump
602 are connected with disk brake caliper 604 by oil hose 605.Disk brake 603 is arranged on wheel axis 705.Disk brake caliper 604
It is arranged in support plate 707.Linear-electric-cylinder 601 is connected with brake control unit by controlling bus, accepts brake and controls list
The direct control of unit.
As shown in figure 4, straight trip driving-chain 7 is surveyed by tire 701, wheel hub motor 702, wheel rim 703, wheel axis 705, straight trip
Test the speed secondary gear 706, support plate 707 and the straight trip of fast one-stage gear 704, straight trip is tested the speed absolute value encoder 708.Wheel hub motor
702 are arranged on the wheel rim 703 of tire 701, and wheel hub motor 702 is structure as a whole with tire 701.Wheel axis 705 and wheel hub
Motor 702 connects.Disk brake 603 is provided with wheel axis 705 and straight trip is tested the speed one-stage gear 704, wheel axis 705 passes through
Flat key is connected with the line slideway fixed mount 802 in damping module.Referring to Fig. 5, support plate 707 is fixed in line slideway fixed mount
On 802.The straight trip absolute value encoder 708 that tests the speed is arranged in support plate 707, and straight trip is tested the speed and installed on absolute value encoder 708
Have and test the speed secondary gear 706 with the straight trip straight trip that one-stage gear 704 engages of testing the speed.Straight trip is tested the speed one-stage gear 704 and is surveyed with keeping straight on
The gearratio of fast secondary gear 706 is 11:4.Wheel hub motor 702 and straight trip test the speed absolute value encoder 708 all by always controlling
Line is connected with straight trip velocity close-loop control unit, accepts the direct control of straight trip velocity close-loop control unit.
As shown in figure 5, damping module 8 include elastic damping cylinder 801, line slideway fixed mount 802, linear bearing 804
With line slideway 805.Elastic damping cylinder 801 is connected on suspension 2, line slideway fixed mount 802 and elastic damping cylinder 801
Connect, line slideway 805 is arranged on line slideway fixed mount 802, the upper end setting limited location block rubber of linear bearing 804
803.The linear bearing 804 usherd to seat and line slideway 805 coordinate, and are fixed on suspension 2.Connect on line slideway fixed mount 802
Connect support plate 707.
When wheel straight trip or retrogressing, host computer is given and is controlled module signal 3 signal, controls the straight trip speed in module 3 to close
Ring control unit sends execution signal, wheel hub motor 702 produces driving force square and rotating speed to wheel hub motor, drives by tire 701
With the wheel of wheel rim 703 composition by moving ahead or retreat.Travel speed is tested the speed secondary gear by test the speed one-stage gear 23 and straight trip of straight trip
The 11 of wheel 25 composition:4 step-up drive feed back to straight trip and test the speed on absolute value encoder 708.Straight trip is tested the speed absolute value encoder 708
The rate signal detecting feeds back in the straight trip velocity close-loop control unit controlling in module 3, by the ratio with input signal
Relatively, according to error transfer factor speed preset after correction, so that travel speed is equal with given speed.
During wheel steering, steering angle signal is applied in control module 3 steering position Closed Loop Control Unit host computer,
The control signal producing controls steering servomotor 401 further, turns to servomotor 401 output speed with moment of torsion by decelerator
403 slow down increase turn round after-applied on suspension 2, and then drive suspension 2 on each several part together turn to.It is connected with decelerator 403
Survey corner one-stage gear 404 and the angular displacement of output is passed to on the suitable survey corner secondary gear 504 of its number of teeth, and then carry
Dynamic coupled survey corner absolute value encoder 501 produces rotary angle signal, and this signal is by turning to position with controlling module 3
The input signal put in Closed Loop Control Unit compares, and is further compensate for giving according to error after correction, so that actual steering
Angle is led to given equal.
When wheel is through uneven rough ground, the surface relief producing is contacted by tire 701 in straight trip driving-chain 7 with ground
Information reflects on line slideway fixed mount 802 by wheel axis 705, promotes elastic damping cylinder 28 further, by bullet
Property damping cylinder 28 elastic buffer and energy damping dissipate, fluctuating of ground is weakened or is eliminated.Line slideway 805 with
Linear bearing 804 mainly play the guiding role, and on the one hand ensures the position relation of straight trip driving-chain 7 and suspension 2, on the one hand ensures ground
Face fluctuates and keeps vertical direction to be delivered on elastic damping cylinder 801.
When wheel needs jerk, one side host computer transmits to the straight trip velocity close-loop control unit in control module 3
Number, and then the speed by straight trip velocity close-loop control unit signalling cutting-off controlling wheel hub motor 703 and torque output.Meanwhile,
The signal feeding of host computer is to the brake control unit controlling in module 3, and then the signal after brake control unit is processed is sent out
Deliver in Linear-electric-cylinder 601, the cylinder rod of Linear-electric-cylinder 601 is stretched out, the piston of hydraulic oil pump 602 is pushed into topmost, lives
Hydraulic oil is expressed in disk brake caliper 604 by oil hose 605 by plug again, and disk brake caliper 604 clamps disk brake 603, makes wheel
Hub motor 702 slows down, and then wheel gait of march is decreased to zero, and wheel stops operating.
Claims (7)
1. the walking of a kind of integration hydraulic brake and suspension and steering servo drive wheel, pass including suspension basket, suspension, straight trip
Dynamic chain, steering driving-chain, damping module, brake module and control module；It is characterized in that：It is provided with back between suspension basket and suspension
Turn and support；Straight trip driving-chain is connected with damping module, and damping module and brake module are installed on suspension；Turn to driving-chain bag
Include steering power mechanism and turn to testing agency, steering power mechanism is connected in turn with the outer ring of suspension basket and revolving support
Together, the output end of steering power mechanism and the inner ring of revolving support and suspension are connected in turn, and turn to testing agency
It is arranged on suspension basket and be connected by gear drive with steering power mechanism；Module is controlled to include velocity close-loop control list of keeping straight on
Unit, steering position Closed Loop Control Unit and brake control unit；Straight trip driving-chain passes through control with straight trip velocity close-loop control unit
Bus processed connects；Steering power mechanism and steering testing agency are connected by controlling bus with steering position Closed Loop Control Unit；
Brake module is connected with brake control unit.
2. the walking of integration hydraulic brake according to claim 1 and suspension and steering servo drive wheel, its feature
It is：Described steering power mechanism, including turning to servomotor and decelerator, decelerator is connected on decelerator mounting flange, subtracts
The outer ring of fast device mounting flange, suspension basket and revolving support is connected in turn, and the input of decelerator is electric with steering servo
Machine connects, and the output end of decelerator is provided with survey corner one-stage gear, surveys corner one-stage gear, the inner ring of revolving support and suspension
It is connected in turn, turn to servomotor and be connected with steering position Closed Loop Control Unit by controlling bus.
3. the walking of integration hydraulic brake according to claim 1 and suspension and steering servo drive wheel, its feature
It is：Described steering testing agency, including surveying corner absolute value encoder, surveying corner double-reduction gear and gear support frame, surveys
Corner absolute value encoder is arranged on gear support frame, surveys corner secondary gear and is arranged in gear support frame and moves with turning to
Survey corner one-stage gear engagement in force mechanisms, surveys corner secondary gear and is connected with surveying corner absolute value encoder, and gear supports
Frame is arranged on suspension basket, surveys corner absolute value encoder and is connected with steering position Closed Loop Control Unit by controlling bus.
4. the walking of integration hydraulic brake according to claim 1 and suspension and steering servo drive wheel, its feature
It is：Described brake module, including Linear-electric-cylinder, hydraulic oil pump, disk brake and disk brake caliper；Linear-electric-cylinder is installed on suspension
On, hydraulic oil pump is connected with Linear-electric-cylinder, and hydraulic oil pump is connected with disk brake caliper by oil hose, and disk brake is arranged on directly
On wheel axis in row driving-chain, disk brake caliper is arranged in the support plate in straight trip driving-chain, and Linear-electric-cylinder passes through control
Bus processed is connected with brake control unit.
5. the walking of integration hydraulic brake according to claim 1 and suspension and steering servo drive wheel, its feature
It is：Described straight trip driving-chain, tests the speed absolute value encoder including tire, wheel hub motor, wheel axis, support plate and straight trip, wheel
Hub motor is arranged on the wheel rim in tire, and wheel axis one end is connected with wheel hub motor, the straight line in one end and damping module
Guide rails fixing support connects, and wheel axis is provided with disk brake and straight trip is tested the speed one-stage gear, support plate is fixed in damping module
In line slideway fixed mount on, the straight trip absolute value encoder that tests the speed is arranged in support plate, and straight trip is tested the speed absolute value encoder
On be provided with and test the speed secondary gear with the straight trip that one-stage gear engages of testing the speed of keeping straight on, wheel hub motor and straight trip are tested the speed absolute encoder
Device is all connected with straight trip velocity close-loop control unit by controlling bus.
6. the walking of integration hydraulic brake according to claim 5 and suspension and steering servo drive wheel, its feature
It is：Described straight trip test the speed one-stage gear with straight trip test the speed secondary gear gearratio be 11:4.
7. the walking of integration hydraulic brake according to claim 1 and suspension and steering servo drive wheel, its feature
It is：Described damping module, including elastic damping cylinder, linear bearing, line slideway and line slideway fixed mount, elastic damping gas
Cylinder one end is connected on suspension, and the other end is connected with line slideway fixed mount by bearing pin, and line slideway is fixed on line slideway
On fixed mount, linear bearing is mounted and fixed on suspension with line slideway cooperation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611048476.8A CN106394153B (en) | 2016-11-25 | 2016-11-25 | A kind of walking and the steering servo drive wheel of integration hydraulic brake and suspension |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611048476.8A CN106394153B (en) | 2016-11-25 | 2016-11-25 | A kind of walking and the steering servo drive wheel of integration hydraulic brake and suspension |
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| Publication Number | Publication Date |
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| CN106394153A true CN106394153A (en) | 2017-02-15 |
| CN106394153B CN106394153B (en) | 2019-10-29 |
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| CN201611048476.8A Active CN106394153B (en) | 2016-11-25 | 2016-11-25 | A kind of walking and the steering servo drive wheel of integration hydraulic brake and suspension |
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| CN108163045A (en) * | 2018-01-12 | 2018-06-15 | 深圳市功夫机器人有限公司 | A kind of steering wheel driving device |
| CN108819711A (en) * | 2018-08-28 | 2018-11-16 | 杭州天爵舞台工程有限公司 | A kind of wheel steering device and automobile |
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| CN109808481A (en) * | 2017-11-20 | 2019-05-28 | 北京京东尚科信息技术有限公司 | Wheel mechanism, electronic unmanned chassis and electronic unmanned vehicle based on hub motor |
| CN110254209A (en) * | 2019-06-24 | 2019-09-20 | 北方工业大学 | Omnidirectional driving wheel for mobile robot |
| CN111532091A (en) * | 2020-05-15 | 2020-08-14 | 陕西重型汽车有限公司 | Tire pressure regulating device |
| CN112752662A (en) * | 2020-12-30 | 2021-05-04 | 华为技术有限公司 | Integrated suspension and brake system |
| CN113135070A (en) * | 2020-04-22 | 2021-07-20 | 盐城富达新能源有限公司 | Double-support steering wheel |
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| US20220055586A1 (en) * | 2020-06-24 | 2022-02-24 | Ree Automotive Ltd. | Brake systems integrated into vehicle corner modules and methods of use thereof |
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| CN115087583B (en) * | 2020-01-27 | 2024-01-09 | 戴姆勒卡车股份公司 | Driving device for electric truck |
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| CN113135070A (en) * | 2020-04-22 | 2021-07-20 | 盐城富达新能源有限公司 | Double-support steering wheel |
| CN111532091A (en) * | 2020-05-15 | 2020-08-14 | 陕西重型汽车有限公司 | Tire pressure regulating device |
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| CN112752662A (en) * | 2020-12-30 | 2021-05-04 | 华为技术有限公司 | Integrated suspension and brake system |
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