CN106394153B - A kind of walking and the steering servo drive wheel of integration hydraulic brake and suspension - Google Patents
A kind of walking and the steering servo drive wheel of integration hydraulic brake and suspension Download PDFInfo
- Publication number
- CN106394153B CN106394153B CN201611048476.8A CN201611048476A CN106394153B CN 106394153 B CN106394153 B CN 106394153B CN 201611048476 A CN201611048476 A CN 201611048476A CN 106394153 B CN106394153 B CN 106394153B
- Authority
- CN
- China
- Prior art keywords
- suspension
- steering
- mould group
- straight trip
- brake
- 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.)
- Active
Links
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
-
- 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
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Vehicle Body Suspensions (AREA)
- Regulating Braking Force (AREA)
Abstract
A kind of walking and the steering servo drive wheel of integration hydraulic brake and suspension, including suspension basket, suspension, straight trip transmission chain, steering transmission chain, damping mould group, brake mould group and control mould group；Revolving support is provided between suspension basket and suspension；Straight trip transmission chain is connect with damping mould group, and damping mould group and brake mould group are installed on suspension；Turning to transmission chain includes steering power mechanism and steering testing agency, steering power mechanism and the outer ring of suspension basket and revolving support are connected in turn, 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 and are mounted on suspension basket and are connect with steering power mechanism by gear drive；Controlling mould group includes straight trip velocity close-loop control unit, steering position Closed Loop Control Unit and brake control unit.The driving wheel structure is compact, handling good, and collection driving, damping, detects and controls and is installed on one automatically controlled, brake, and speed and angle control precisely.
Description
Technical field
It is with suspension for robot and motor vehicles walking and the hydraulic braking that is integrated with turned to the present invention relates to a kind of
The servo drive wheel of system belongs to machine-walking and steering technique field.
Background technique
Scientific and technological bring outstanding achievement has penetrated into the every aspect of our lives, similar especially in automobile industry
Automatic parking, cruise or even automatic Pilot are nowadays all commonplace.Good manipulation sense, comfortable running environments, height
Although grade it is private it is customized it is equal can attract most of attention, turn to the limitation in space, motion mode it is single really
It is the short slab covered in a development of automobile incessantly.
Although there are also many all-round moving vehicles driven using Mecanum wheel or the dispersion of more wheel bodys,
It is mostly that extraordinary carrier or workshop AGV (automated guided vehicle) etc. is miniaturized, is really not introduced into daily civilian
Field.
Need at present one kind can in parking or traveling 360 ° of pivot studs, and have for irregular potted road surface
The walking of strong stabilization passage capacity and steering servo drive wheel.
Summary of the invention
In order to overcome the shortcomings of the prior art, the present invention provide a kind of collection driving, automatically controlled, brake, damping, detection,
Control device is in one, compact-sized, the walking and steering servo-drive of handling good integration hydraulic brake and suspension
Wheel.
The walking of integration hydraulic brake and suspension of the invention and steering servo drive wheel, using following technical sides
Case:
The walking and steering servo drive wheel, including suspension basket, suspension, straight trip transmission chain, steering transmission chain, damping mould
Group, brake mould group and control mould group；Revolving support is provided between suspension basket and suspension；Keep straight on transmission chain and damping mould group company
It connects, damping mould group and brake mould group are installed on suspension；Turn to transmission chain include steering power mechanism and turn to testing agency,
Steering power mechanism and the outer ring of suspension basket and revolving support are connected in turn, the output end of steering power mechanism with return
Turn support inner ring and suspension be connected in turn, turn to testing agency be mounted on suspension basket and with steering power mechanism
It is connected by gear drive；Controlling mould group includes straight trip velocity close-loop control unit, steering position Closed Loop Control Unit and brake
Control unit；Straight trip transmission chain is connect with straight trip velocity close-loop control unit by control bus；Steering power mechanism and steering
Testing agency is connect with steering position Closed Loop Control Unit by control bus；Brake mould group is connect with brake control unit.
The steering power mechanism, including steering servo motor and retarder, retarder are connected to retarder mounting flange
On, the outer ring of retarder mounting flange, suspension basket and revolving support is connected in turn, and input terminal and the steering of retarder are watched
Take motor connection, the output end of retarder be equipped with survey corner one-stage gear, survey corner one-stage gear, revolving support inner ring with
Suspension is connected in turn, and turns to servo motor and is connect by control bus with steering position Closed Loop Control Unit.
The steering testing agency, including survey corner absolute value encoder, survey corner double-reduction gear and gear support
Frame is surveyed corner absolute value encoder and is mounted on gear support frame, survey corner secondary gear be mounted in gear support frame and with
Survey corner one-stage gear engagement in steering power mechanism, surveys corner secondary gear and connect with corner absolute value encoder is surveyed, tooth
Wheeling supporting frame is mounted on suspension basket, is surveyed corner absolute value encoder and is connected by control bus and steering position Closed Loop Control Unit
It connects.
The brake mould group, including Linear-electric-cylinder, hydraulic oil pump, disk brake and disk brake caliper；Linear-electric-cylinder installation
In on suspension, hydraulic oil pump is connect with Linear-electric-cylinder, and hydraulic oil pump is connect by oil hose with disk brake caliper, disk brake peace
On the wheel axis in straight trip transmission chain, disk brake caliper is mounted in the support plate in straight trip transmission chain, Linear-electric-cylinder
It is connect by control bus with brake control unit.
The straight trip transmission chain, including tire, wheel rim, hub motor, wheel axis, support plate and straight trip are tested the speed absolute value
Encoder, hub motor are arranged on the wheel rim in tire, and wheel axis one end is connect with hub motor, one end and damping mould group
In the connection of linear guide fixed frame, disk brake is installed on wheel axis and straight trip is tested the speed one-stage gear, support plate is fixed in
On linear guide fixed frame in damping mould group, the straight trip absolute value encoder that tests the speed is mounted in support plate, and straight trip is tested the speed absolutely
It is equipped on value encoder and tests the speed secondary gear with the straight trip straight trip that one-stage gear engages of testing the speed, hub motor and straight trip are tested the speed absolutely
Pass through control bus to value encoder to connect with straight trip velocity close-loop control unit.One-stage gear and the straight trip of testing the speed of keeping straight on
Test the speed secondary gear transmission ratio be 11:4.
The damping mould group, including elastic damping cylinder, linear bearing, linear guide and linear guide fixed frame, elasticity
Damping cylinder one end is connected on suspension, and the other end is connect by pin shaft with linear guide fixed frame, and linear guide is fixed on directly
On line guide rails fixing support, linear bearing is mounted in linear guide and is fixed on suspension.
The course of work of above-mentioned driving wheel is as follows:
When straight trip, power source is hub motor, and speed signal is given by host computer, by gear drive by actual wheel
Velocity feedback is transferred to control mould group straight trip velocity close-loop control unit to straight trip speed measuring coder one end, and then by speed signal
In, and make comparisons with given speed, according to error transfer factor speed preset after amendment.When wheel steering, steering angle signal by
Host computer is given, and steering power mechanism directly drives suspension rotation, while its corner being fed back to steering testing agency, and then angle
Degree signal feedback is made comparisons into steering position Closed Loop Control Unit, and with given angle, according to error transfer factor corner after amendment
It is given.Damping mould group is mainly used for the buffering and shock preventing of wheel row to hollow ground.When needing to brake, on the one hand control in mould group
Velocity close-loop control unit of keeping straight on receives the In-wheel motor driving that host computer signal disconnects straight trip transmission chain, on the other hand controls mould
Brake control unit in group receives host computer signal, and control brake mould group completes brake.
Structure of the invention is compact, and assembly is easy, handling good；It has the following characteristics that
1. it is compact to design, integrate multiple functional module groups；By a hub motor and a steering brushless type direct current servo
Motor provides, and integrates driving, automatically controlled, brake, damping, detection, control device.Wheel and car body interface are simple and compact, speed
Degree, angle control are accurate.
2. 360 ° of pivot studs, GOTO field 360 ° can be extended in parking or traveling, speed of keeping straight on and steering angle
Degree uses closed-loop control, and movement is accurate.
3. having the function of passive energy dissipation buffering and hydraulic explosion-proof disc brake, there is stronger stabilization for irregular potted road surface
Passage capacity, high speed can show preferable dynamic and operation by stopping when irregular hogwallow or high speed
Sense.
Detailed description of the invention
Fig. 1 is the walking of integration hydraulic brake of the present invention and suspension and the appearance diagram for turning to servo drive wheel.
Fig. 2 is the structural schematic diagram that transmission chain is turned in the present invention.
Fig. 3 is the structural schematic diagram of brake mould group in the present invention.
Fig. 4 is that the knot of straight trip transmission chain in the present invention makes schematic diagram.
Fig. 5 is the structural schematic diagram of damping mould group in the present invention.
In figure: 1. suspension baskets, 2. suspensions, 3. control mould groups, 4. steering power mechanisms, 5. turn to testing agency, 6. brakes
Mould group, 7. straight trip transmission chains, 8. damping mould groups；
401. turn to servo motor, and 402. motor mounting flanges, 403. harmonic speed reducers, 404. survey corner one-stage gear,
405. retarder mounting flanges, 406. revolving supports；
501. survey corner absolute value encoder, and 502. encoder mounting flanges, 503. deep groove ball bearings, 504. survey corner two
Grade 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. 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. linear guide fixed frames, 803. limit rubber blocks, 804. linear bearings, 805.
Linear guide.
Specific embodiment
The walking of integration hydraulic brake and suspension of the invention and steering servo drive wheel, as shown in Figure 1, including outstanding
It hangs case 1, suspension 2, straight trip transmission chain 7, turn to transmission chain, damping mould group 8, brake mould group 6 and control mould group 3.Suspension basket 1 passes through
Revolving support 406 is connected (referring to fig. 2) with suspension 2.Turning to transmission chain includes steering power mechanism 4 and steering testing agency 5
(referring to fig. 2).Steering power mechanism 4 and steering testing agency 5 are installed in the top of suspension basket 1, and are placed in suspension basket 1.
It controls mould group 3 and includes straight trip 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 mounted on suspension basket 1 and is placed in inside suspension basket 1.Closed-loop control list
Member can use the prior art, all be analog circuit.In straight trip velocity close-loop control unit and steering position Closed Loop Control Unit
Including signal amplifier, arithmetic unit, actuator, signal acquisition and feedback module.Host computer Setting signal can be voltage, can also
Electric current is thought, by the way that compared with wheel actual feedback signal (voltage or electric current), the difference obtained is after amplifier amplifies
Arithmetic unit is further given, actual control voltage or electric current are applied to by electrical components by the calculating of arithmetic unit, into
And straight trip speed and crank degree are corrected, achieve the effect that keep straight on speed servo and crank degree servo.And brake control unit
Without feedback, so compared with more identical than the acquisition of the above two default signal and feedback module, rest part and principle.
As shown in Fig. 2, steering power mechanism 4 includes turning to servo motor 401, retarder 403 and survey corner one-stage gear
404.It turns to servo motor 401 and uses brushless DC servomotor, retarder 403 is using accurate harmonic speed reducer.Turn to servo
Motor 401 is mounted on motor mounting flange 402, and motor mounting flange 402 is connected on the shell of retarder 403, retarder
403 are mounted on retarder mounting flange 405, and the input terminal of retarder 403 is connect with servo motor 401 is turned to, retarder 403
Output end be equipped with survey corner one-stage gear 404.Revolving support 406 is used as connection arrangement, including what is be relatively rotatable to each other
Inner ring and outer ring.The outer ring of retarder mounting flange 405, suspension basket 1 and revolving support 406 is connected in turn one by bolt
It rises, surveys corner one-stage gear 404, the inner ring of revolving support 406 and suspension 2 and be connected in turn by stay bolt.
Turning to testing agency 5 includes surveying corner absolute value encoder 501, encoder mounting flange 502, deep groove ball bearing
503, corner double-reduction gear 504 and gear support frame 505 are surveyed.It is solid that survey corner absolute value encoder 501 is fixed on encoder
Determine to be meshed on flange 502 and with corner secondary gear 504 is surveyed, surveys corner secondary gear 504 and installed by deep groove ball bearing 503
It is engaged in gear support frame 505 and with corner one-stage gear 404 is surveyed.The installation axle for surveying corner secondary gear 504 stretches out gear
Support frame 505 is simultaneously connect by jackscrew with corner absolute value encoder 501 is surveyed.Gear support frame 505 is mounted on the interior of suspension basket 1
On portion bottom surface.Encoder mounting flange 502 is fixed on suspension basket 1.
It turns to servo motor 401 and surveys corner absolute value encoder 501 by data/address bus and the control of steering position closed loop
Unit connection processed, receives directly controlling for 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 control bus.
Turning to after servo motor 401 is slowed down by retarder 403 drives suspension 2 to rotate, and realizes wheel steering；Revolving speed simultaneously
Survey corner absolute value encoder 501 is passed to engaging for corner secondary gear 504 is surveyed by surveying corner one-stage gear 404, it is real
Turn now to detection.Surveying corner one-stage gear 404 and surveying the transmission ratio of corner secondary gear 504 is 1:1.
As shown in figure 3, brake mould group 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 connect by oil hose 605 with disk brake caliper 604.Disk brake 603 is mounted on wheel axis 705.Disk brake caliper 604
It is mounted in support plate 707.Linear-electric-cylinder 601 is connect by control bus with brake control unit, and it is single to receive brake control
Member directly controls.
As shown in figure 4, straight trip transmission chain 7 is surveyed by tire 701, 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.Hub motor
702 are arranged on the wheel rim 703 of tire 701, and hub motor 702 is structure as a whole with tire 701.Wheel axis 705 and wheel hub
Motor 702 connects.Disk brake 603 is installed on wheel axis 705 and straight trip is tested the speed one-stage gear 704, wheel axis 705 passes through
Flat key is connect with the linear guide fixed frame 802 in damping mould group.Referring to Fig. 5, support plate 707 is fixed in linear guide fixed frame
On 802.The straight trip absolute value encoder 708 that tests the speed is mounted in support plate 707, and straight trip is tested the speed and installed on absolute value encoder 708
Have and tests the speed secondary gear 706 with the straight trip straight trip that one-stage gear 704 engages of testing the speed.Straight trip test the speed one-stage gear 704 and straight trip survey
The transmission ratio of fast secondary gear 706 is 11:4.Hub motor 702 and straight trip test the speed absolute value encoder 708 by controlling always
Line is connect with straight trip velocity close-loop control unit, receives directly controlling for straight trip velocity close-loop control unit.
As shown in figure 5, damping mould group 8 include elastic damping cylinder 801, linear guide fixed frame 802, linear bearing 804
With linear guide 805.Elastic damping cylinder 801 is connected on suspension 2, linear guide fixed frame 802 and elastic damping cylinder 801
Connection, linear guide 805 are mounted on linear guide fixed frame 802, and the upper end of linear bearing 804 is provided with limit rubber block
803.The linear bearing 804 and linear guide 805 usherd to seat cooperate, and are fixed on suspension 2.Connect on linear guide fixed frame 802
Connect support plate 707.
When wheel straight trip or retrogressing, host computer gives control 3 signal of module signal, and the straight trip speed controlled in mould group 3 is closed
Ring control unit is issued to hub motor executes signal, and hub motor 702 generates driving moment and revolving speed, drives by tire 701
The wheel formed with wheel rim 703 is by moving ahead or retreating.Travel speed tests the speed one-stage gear 23 and straight trip is tested the speed secondary gear by keeping straight on
The 11:4 step-up drive feedback of 25 composition of wheel tests the speed on absolute value encoder 708 to straight trip.Straight trip is tested the speed absolute value encoder 708
Detect speed signal feedback to control mould group 3 in straight trip velocity close-loop control unit in, by and input signal ratio
Compared with according to error transfer factor speed preset after amendment, to keep travel speed equal with given speed.
When wheel steering, steering angle signal is applied in control 3 steering position Closed Loop Control Unit of mould group by host computer,
The control signal of generation, which further controls, turns to servo motor 401, turns to 401 output speed of servo motor and torque by retarder
It is applied on suspension 2 after 403 deceleration torque increases, and then each section on suspension 2 is driven to turn to together.It is connected with retarder 403
It surveys corner one-stage gear 404 to pass to the angular displacement of output on the comparable survey corner secondary gear 504 of its number of teeth, and then band
It moves coupled survey corner absolute value encoder 501 and generates rotary angle signal, this signal is by turning to position with control mould group 3
The input signal set in Closed Loop Control Unit compares, and is further compensate for giving according to error after amendment, to make actual steering
Angle is logical give it is equal.
When wheel is by uneven rough ground, by the surface relief of tire 701 in straight trip transmission chain 7 and ground face contact generation
Information is reflected by wheel axis 705 onto linear guide fixed frame 802, is further pushed elastic damping cylinder 28, is passed through bullet
Property 28 elastic buffer of damping cylinder and energy damping dissipate, by fluctuate decrease or the elimination on ground.Linear guide 805 with
Linear bearing 804 mainly play the guiding role, and on the one hand guarantees the position relation of straight trip transmission chain 7 and suspension 2, on the one hand guarantees ground
Face, which fluctuates, keeps vertical direction to be transmitted on elastic damping cylinder 801.
When wheel needs emergency stop, straight trip velocity close-loop control unit of the one side host computer into control mould group 3 is transmitted
Number, and then signaled to cut off the speed for controlling hub motor 703 and torque output by straight trip velocity close-loop control unit.Meanwhile
The signal feeding of host computer is sent out to the brake control unit in control mould group 3, and then by brake control unit treated signal
It is sent in Linear-electric-cylinder 601, the cylinder rod of Linear-electric-cylinder 601 is stretched out, and the piston of hydraulic oil pump 602 is pushed into topmost, living
Hydraulic oil is expressed in disk brake caliper 604 by plug by oil hose 605 again, and disk brake caliper 604 clamps disk brake 603, makes to take turns
Hub motor 702 slows down, and then wheel travel speed is decreased to zero, and wheel stops operating.
Claims (5)
1. walking and the steering servo drive wheel of a kind of integration hydraulic brake and suspension, including suspension basket, suspension, straight trip biography
Dynamic chain turns to transmission chain, damping mould group, brake mould group and control mould group；It is characterized in that: being provided with back between suspension basket and suspension
Turn support；Straight trip transmission chain is connect with damping mould group, and damping mould group and brake mould group are installed on suspension；Turn to transmission chain packet
Include steering power mechanism and turn to testing agency, steering power mechanism includes turning to servo motor and retarder, retarder it is defeated
Enter end with turn to servo motor connect, retarder is connected on retarder mounting flange, retarder mounting flange, suspension basket and
The outer ring of revolving support is connected in turn, and the output end of steering power mechanism and the inner ring of revolving support and suspension are successively
It links together, turns to testing agency and be mounted on suspension basket and connect with steering power mechanism by gear drive；Control mould
Group includes straight trip velocity close-loop control unit, steering position Closed Loop Control Unit and brake control unit；It keeps straight on transmission chain and straight
Scanning frequency degree Closed Loop Control Unit is connected by control bus；Steering power mechanism and steering testing agency and the control of steering position closed loop
Unit processed is connected by control bus；Brake mould group is connect with brake control unit；
The steering testing agency, including survey corner absolute value encoder, survey corner double-reduction gear and gear support frame, it surveys
Corner absolute value encoder is mounted on gear support frame, is surveyed corner secondary gear and is mounted in gear support frame and moves with turning to
Survey corner one-stage gear engagement in force mechanisms, surveys corner secondary gear and connect with corner absolute value encoder is surveyed, gear support
Frame is mounted on suspension basket, is surveyed corner absolute value encoder and is connect by control bus with steering position Closed Loop Control Unit.
2. walking and the steering servo drive wheel of integration hydraulic brake according to claim 1 and suspension, feature
Be: the steering power mechanism, including steering servo motor and retarder, retarder are connected on retarder mounting flange, subtract
The outer ring of fast device mounting flange, suspension basket and revolving support is connected in turn, the input terminal and steering servo electricity of retarder
Machine connection, the output end of retarder, which is equipped with, surveys corner one-stage gear, surveys the inner ring and suspension of corner one-stage gear, revolving support
It is connected in turn, turns to servo motor and connect by control bus with steering position Closed Loop Control Unit.
3. walking and the steering servo drive wheel of integration hydraulic brake according to claim 1 and suspension, feature
It is: the brake mould group, 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 connect with Linear-electric-cylinder, and hydraulic oil pump is connect by oil hose with disk brake caliper, and disk brake is mounted on directly
On wheel axis in row transmission chain, disk brake caliper is mounted in the support plate in straight trip transmission chain, and Linear-electric-cylinder passes through control
Bus processed is connect with brake control unit.
4. walking and the steering servo drive wheel of integration hydraulic brake according to claim 1 and suspension, feature
Be: the straight trip transmission chain, including tire, hub motor, wheel axis, support plate and straight trip are tested the speed absolute value encoder, wheel
Hub motor is arranged on the wheel rim in tire, and wheel axis one end is connect with hub motor, the straight line in one end and damping mould group
Guide rails fixing support connection, is equipped with disk brake on wheel axis and straight trip is tested the speed one-stage gear, and support plate is fixed in damping mould group
In linear guide fixed frame on, the straight trip absolute value encoder that tests the speed is mounted in support plate, and straight trip is tested the speed absolute value encoder
On be equipped with and test the speed secondary gear with the straight trip straight trip that one-stage gear engages of testing the speed, hub motor and straight trip are tested the speed absolute encoder
Device passes through control bus and connect with straight trip velocity close-loop control unit.
5. walking and the steering servo drive wheel of integration hydraulic brake according to claim 1 and suspension, feature
It is: the damping mould group, including elastic damping cylinder, linear bearing, linear guide and linear guide fixed frame, elastic damping gas
Cylinder one end is connected on suspension, and the other end is connect by pin shaft with linear guide fixed frame, and linear guide is fixed on linear guide
On fixed frame, linear bearing and linear guide are coupled and are fixed on suspension.
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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106394153A CN106394153A (en) | 2017-02-15 |
| CN106394153B true CN106394153B (en) | 2019-10-29 |
Family
ID=58083399
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| 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 |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106394153B (en) |
Families Citing this family (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106828077A (en) * | 2017-04-01 | 2017-06-13 | 江南大学 | A kind of omnidirectional driving wheel |
| CN109808481B (en) * | 2017-11-20 | 2020-07-31 | 北京京东尚科信息技术有限公司 | Wheel mechanism based on hub motor, electric unmanned vehicle chassis and electric unmanned vehicle |
| CN108082281A (en) * | 2017-12-11 | 2018-05-29 | 浙江捷尚人工智能研究发展有限公司 | Robot turning mechanism |
| CN108163045B (en) * | 2018-01-12 | 2024-02-09 | 深圳市功夫机器人有限公司 | Steering wheel driving device |
| CN108860297A (en) * | 2018-08-28 | 2018-11-23 | 杭州天爵舞台工程有限公司 | A kind of automatic Pilot steering system and vehicle |
| CN108819711B (en) * | 2018-08-28 | 2024-05-14 | 杭州天爵舞台工程有限公司 | Wheel steering device and car |
| CN109227522A (en) * | 2018-10-23 | 2019-01-18 | 广东博智林机器人有限公司 | A kind of omni-directional moving mechanism and hoisting machine people's system |
| CN110254209B (en) * | 2019-06-24 | 2021-07-16 | 北方工业大学 | Omnidirectional driving wheel for mobile robot |
| CN110925341A (en) * | 2019-12-04 | 2020-03-27 | 云南昆船智能装备有限公司 | Hydraulic system for automatic braking of AGV |
| CN110789331A (en) * | 2019-12-12 | 2020-02-14 | 长沙万为机器人有限公司 | Servo steering wheel of robot |
| JP7348092B2 (en) | 2020-01-27 | 2023-09-20 | ダイムラー トラック エージー | Drive unit for electric trucks |
| JP7348093B2 (en) * | 2020-01-27 | 2023-09-20 | ダイムラー トラック エージー | Drive unit for electric trucks |
| CN111169891A (en) * | 2020-02-26 | 2020-05-19 | 五邑大学 | Intelligent carrying trolley |
| CN113135070A (en) * | 2020-04-22 | 2021-07-20 | 盐城富达新能源有限公司 | Double-support steering wheel |
| CN111532091B (en) * | 2020-05-15 | 2022-02-11 | 陕西重型汽车有限公司 | Tire pressure regulating device |
| GB2614140A (en) * | 2020-06-24 | 2023-06-28 | Ree Automotive Ltd | Brake systems integrated into vehicle corner modules, and methods of use thereof |
| WO2022141264A1 (en) * | 2020-12-30 | 2022-07-07 | 华为技术有限公司 | Integrated suspension and braking system |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| BE398269A (en) * | 1932-11-09 | |||
| CN102431586B (en) * | 2011-10-24 | 2015-11-18 | 上海航天汽车机电股份有限公司 | Integral steering and suspension system |
| JP5472870B2 (en) * | 2011-12-13 | 2014-04-16 | 晴夫 大谷 | Travel steering device for automobile |
| CN203142764U (en) * | 2013-02-01 | 2013-08-21 | 上海电力环保设备总厂有限公司 | Planetary transmission hydraulic steering mechanism |
| CN203651471U (en) * | 2013-12-02 | 2014-06-18 | 苏州先锋物流装备科技有限公司 | Motoring drive assembly |
| CN105083378B (en) * | 2015-09-29 | 2017-05-03 | 吉林大学 | Actuating mechanism of distributive independent steering system |
| CN205185842U (en) * | 2015-11-20 | 2016-04-27 | 安徽依诺玛智能科技有限公司 | AVG fork truck's horizontal drive |
| CN206344650U (en) * | 2016-11-25 | 2017-07-21 | 山东大学 | The walking of a kind of integration hydraulic brake and suspension and steering servo drive wheel |
-
2016
- 2016-11-25 CN CN201611048476.8A patent/CN106394153B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN106394153A (en) | 2017-02-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106394153B (en) | A kind of walking and the steering servo drive wheel of integration hydraulic brake and suspension | |
| CN206344650U (en) | The walking of a kind of integration hydraulic brake and suspension and steering servo drive wheel | |
| CN101797917B (en) | Braking device of unmanned vehicle | |
| CN105501011B (en) | Road rail vehicle railway running gear | |
| CN204956616U (en) | Place transport vechicle is with automatically controlled hydraulic pressure four wheel steering mechanism | |
| CN106739909B (en) | Electric vehicle hub steering suspension system | |
| CN105905120A (en) | Single axle bogie transmission of straddle-type single rail vehicle | |
| CN103332082B (en) | Multifunctional chassis of track tractor | |
| CN104401397A (en) | Omnidirectional traveling driving device | |
| CN218848628U (en) | Novel high-speed heavy load AGV | |
| CN104554512A (en) | Pure electric automatic guided vehicle for containers | |
| CN205112850U (en) | Single wheel universal wheel | |
| CN112356655A (en) | Independent suspension and vibration reduction integrated differential driving wheel device and control method thereof | |
| CN201633712U (en) | Unmanned vehicle brake | |
| CN202279666U (en) | Omni-directional forklift | |
| CN206493930U (en) | A kind of pilotless automobile brake gear with braking function | |
| CN201914074U (en) | Wheel movement assembly of urban electric vehicle | |
| CN112319599A (en) | High-speed omni-directional wheel system of intelligent omni-directional transmission and rotation platform | |
| KR20080054752A (en) | Driving robot system | |
| CN2861111Y (en) | Electric-wheel drive door-type crane | |
| CN206606022U (en) | Electric vehicle hub turns to suspension system | |
| CN111605397A (en) | Array type hub motor driving system and multi-wheel hub motor integration and brake steering integrated unmanned vehicle chassis | |
| CN212980331U (en) | High-speed omni-directional wheel system of intelligent omni-directional transmission and rotation platform | |
| CN103482481B (en) | Wireless remote control electricity liquid driving wheel tire formula gauntry crane | |
| CN209739058U (en) | Driving mechanism of coal mining operation inspection robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |