CN106515854A - Four-wheel drive vehicle chassis - Google Patents
Four-wheel drive vehicle chassis Download PDFInfo
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- CN106515854A CN106515854A CN201510577044.5A CN201510577044A CN106515854A CN 106515854 A CN106515854 A CN 106515854A CN 201510577044 A CN201510577044 A CN 201510577044A CN 106515854 A CN106515854 A CN 106515854A
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- assembly
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- frame
- combination bearing
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Abstract
The invention relates to a four-wheel drive vehicle chassis controlled by driving vector. An intelligent vehicle and traffic system is beneficial for increasing traffic efficiency and reducing accident rate; and autonomous vehicle network technology has great limitation in motility and driving property active control aspects when being applied to the traditional vehicle chassis. Therefore, according to the invention, the technical limitations are overcome, and through adoption of a hinged front and rear sub frame assembly, a front sub frame and a rear sub frame are controlled by moment vector to rotate as a whole so that the whole chassis is controlled to steer and translate. The four-wheel drive vehicle chassis provided by the invention is applied to military vehicles, autonomous vehicles and robot chassis systems with high requirements on motility and driving property.
Description
Technical field
The invention belongs to vehicle chassis field, and in particular to realize the vehicle chassis for turning to and translating by the vector controlled to the driving of each wheel.
Background technology
Intelligent System of Vehicle and traffic system have become the important topic of vehicle research and development and railway and highway system design.Intelligent System of Vehicle and railway and highway system are conducive to improving traffic efficiency, reduce accident rate and strengthen the driveability of motor vehicles.Military transit equipment and civilian traffic system will adopt automatic Pilot and car networking technology in a large number.The application of these technologies is to mobility and the travelling of vehicle it is also proposed that requirements at the higher level.Traditional steering mechanism and centralized dynamical system are the designs with driver as core, and automatic Pilot and vehicle network technology will more pay close attention to intelligent vehicle and railway and highway system itself.In this case, considerable restraint is brought to the realization of automatic driving vehicle in terms of mobility and travelling active control in conventional truck chassis.Therefore the present invention overcomes above technology to limit to, and is a kind of four-wheel drive vehicle chassis turned to by moment vector control realization.The present invention is highly suitable for military vehicle, automatic driving vehicle and the robot chassis system having high demands to mobility and travelling.
The content of the invention
The present invention is a kind of brand-new four-wheel drive chassis, using forward and backward subframe assembly is hinged, by four are driven with wheel speed and moment of torsion, and the control of braking moment, forward and backward subframe assembly is made to be hinged stub rotation around respective as needed respectively, so as to realizing turning to and translating.Invention replaces traditional steering, flexible with control, simple structure the advantages of versatility is high, can be used for military vehicle, automatic driving vehicle and robot chassis system.
The present invention is by fore sub frame assembly, Rear secondary frame for vehicle assembly, combination bearing, elastic aligning device, vehicle frame, power unit and electronic control system composition.Forward and backward subframe assembly leads to a pair of combination bearings respectively and is articulated with vehicle frame rear and front end；The axis of the upper and lower combination bearing of each pair combination bearing is constituted and is hinged stub；Elastic aligning device connecting frame and subframe assembly；Subframe assembly includes subframe, wheel, arrestment mechanism and suspension system；Power unit has four groups, on vehicle frame, drives four wheels respectively；Four power unit rotating speeds of electronic control system precise control and moment of torsion, and braking moment.
Forward and backward subframe assembly is characterised by that fore sub frame assembly and Rear secondary frame for vehicle assembly have identical structure and composition；Subframe assembly includes subframe, wheel, arrestment mechanism and suspension system；There are two bearing blocks for installing combination bearing on the subframe, be hinged with vehicle frame by combination bearing.
Combination bearing is characterised by that combination bearing has forward and backward two pairs, and each pair combination bearing has upper and lower two combination bearings, and each combination bearing is made up of bearing and rubber bushing.Point-blank, what the straight line was constituted is hinged main pin axis to the axis of each pair combination bearing.Forward and backward subframe assembly is hinged stub rotation rotating around respective.Stub is hinged on longitudinally asymmetric face, and has a little angle with vertical direction, made to the aligning torque of forward and backward subframe assembly self-aligning in producing for gravity.
Vehicle frame is characterised by that there is the bearing block for installing combination bearing at forward and backward two ends, leads to a pair of combination bearings respectively and the forward and backward subframe assembly is hinged.
Elastic aligning device it is characterized in that elastic aligning device has flexible member, each returns positive elastic device and couples respectively and connects forward and backward subframe assembly and vehicle frame.When subframe assembly is located at intermediate equilibria position relative to vehicle frame, elastic aligning device does not provide aligning torque；When subframe assembly deviates intermediate equilibria position relative to vehicle frame, elastic aligning device produces the aligning torque for making subframe position assembly return to intermediate equilibria position.
The feature of power unit has four groups in power unit, independent to drive four wheels；Power unit is installed on vehicle frame, is not rotated with forward and backward subframe assembly.
Electronic control system is characterised by the rotating speed and moment of torsion of electronic control system precise control motor, and brake torque, make on the wheel of both sides, to produce the torque difference of setting, so that rotating around stub is hinged to angle that is in the same direction or rotating backward setting, forward and backward subframe assembly realizes that chassis turns to and translates.
Description of the drawings
Fig. 1：Chassis integral layout schematic diagram
Fig. 2：Chassis toe lateral line of vision profile
Fig. 3：Fore sub frame and its component diagram
Fig. 4：Subframe schematic diagram
Fig. 5：Aligning device profile
Fig. 6：Aligning device part-structure schematic diagram（One）
Fig. 7：Aligning device part-structure schematic diagram（Two）
Fig. 8：Combination bearing profile
Fig. 9：Vehicle frame schematic diagram
Figure 10：Vehicle frame partial enlarged drawing
Figure 11：Vehicle frame and power unit schematic diagram
Figure 12：Electronic control system schematic diagram
Figure 13：Chassis turns to schematic diagram
Figure 14：Chassis translates schematic diagram
Numbering and title：1st, fore sub frame assembly；2nd, rear pair vehicle carriage assembly；3rd, vehicle frame；4th, left front power unit；5th, right front power unit；6th, left back power unit；7th, power unit behind the right side；8th, elastic aligning device（Before）；9th, elastic aligning device（Afterwards）10th, electronic control system；11st, lower combination bearing；12nd, upper combination bearing；13rd, lower combination bearing thrust piece；14th, upper combination bearing thrust piece；A, it is hinged stub；α, it is hinged caster；15th, front left wheel；16th, right front wheel；17th, left front suspension system；18th, right front suspension system；19th, left front arrestment mechanism；20th, right front arrestment mechanism；21st, fore sub frame；22nd, step；23rd, top chock；24th, universal joint spherical roller chute；25th, elastic aligning device base；26th, elastic aligning device shell；27th, limit spring；28th, universal joint cylinder outer race；29th, bushing；30th, reversely return positive spring；31st, it is positive to return positive spring；32nd, universal joint lateral pin；33rd, spherical roller；34th, return main story moving axis；35th, return positive swing arm；36th, return and just putting pin；37th, it is positive to return positive spring retainer post；38th, it is positive to return positive spring fixed end； 39；Aligning device base installing hole；40th, reversely return positive spring retainer post；41st, universal joint spherical roller chute；42nd, reversely return positive spring fixed end；43rd, aligning device shell installing hole；44th, rolling bearing；45th, rubber bushing part；46. rolling bearing inner rings；47th, rolling element；48th, housing washer both rubber bushing inner ring；49th, rubber；50th, rubber bushing outer ring；51st, mounting flange；52nd, flange mounting hole；53rd, vehicle frame front end top chock；54th, vehicle frame front end step；55. vehicle frame rear end top chocks；56th, vehicle frame rear end step；57th, vehicle frame rear end combination bearing mounting seat installing hole；58th, vehicle frame rear end combination bearing mounting seat installing hole；59th, power source；60th, driving machine；61st, deceleration device；62nd, semiaxis；63rd, outer end constant velocity cardan joint；64th, inner constant velocity cardan joint.
Specific embodiment
Based on the above content of the invention, the present invention can be implemented as follows.
The present invention is made up of fore sub frame assembly 1, Rear secondary frame for vehicle assembly 2, combination bearing 11,12, elastic centering mechanism 8,9, vehicle frame 3, power unit 4,5,6,7, and electronic control system 10.
As shown in figure 1, fore sub frame assembly 1, Rear secondary frame for vehicle assembly 2 are respectively positioned at the rear and front end of vehicle frame 3.5 being formed integrally structure of left front power unit 4 and right front power unit, it is anterior positioned at vehicle frame 3；7 being formed integrally structure of power unit after left back power unit 6 and the right side, positioned at 3 rear portion of vehicle frame.
Chassis front portion longitudinal sectional drawing is illustrated in figure 2, chassis rear portion has identical structure.Combination bearing 11 and combination bearing 12 are a pair of combination bearings, and point-blank, composition is hinged stub A to their axis；On longitudinally asymmetric face, being hinged stub A has a little angle α with vertical direction.Inner ring 46 and the subframe 21 of combination bearing 11（Fig. 3）On step 22（Fig. 4）Coordinate, the inner ring of combination bearing 11 is fixed by lower combination bearing thrust piece 13；Outer ring 50 and the vehicle frame front end step 54 of combination bearing 11（Fig. 9）Coordinate, by flange 51 and installing hole 52（Fig. 8）、58（Figure 10）It is fixed.Inner ring 46 and the subframe 21 of combination bearing 12（Fig. 3）On top chock 23（Fig. 4）Coordinate, the inner ring of combination bearing 12 is fixed by upper combination bearing thrust piece 14；Outer ring 50 and the vehicle frame front end step 54 of combination bearing 11（Fig. 9）Coordinate, by flange 51 and installing hole 52（Fig. 8）、58（Figure 10）It is fixed.Aligning device 8, its shell 26 and base 25（Fig. 5）Using installing hole 39（Fig. 6）、43（Fig. 7）It is installed to vehicle frame front end top chock 53（Fig. 9）On；Its time main story moving axis 34（Fig. 5）Lower end, extend into hollow subframe upper mounting seat 23（Fig. 4）In, spherical roller 33（Fig. 5）Slip into spherical roller chute 24（Fig. 4）In.
Fore sub frame assembly is illustrated in figure 3, Rear secondary frame for vehicle assembly has identical structure and composition.Left front suspension system 17 and right front suspension system 18 are installed on subframe 21.Left front arrestment mechanism 19 and the near front wheel 15 are installed on left front suspension 17；Before right, arrestment mechanism 20 and off-front wheel 16 are installed on right front suspension 18.
Aligning device profile as shown in Figure 5, two lateral pins 32 are horizontally through at the two ends for returning main story moving axis 34, fixed by interference fit, spherical roller 33 is cased with the two ends of each lateral pin, the upper end for returning main story moving axis is stretched in universal joint cylinder outer race 28, while spherical roller 33 slips into corresponding spherical roller chute 41（Fig. 7）.Universal joint cylinder outer race is arranged between base 25 and shell 26 by bushing 29, freely can be rotated.Return positive swing arm 35 to be welded on outside universal joint cylinder outer race 28, return and just putting pin 36 and be pressed into back in positive swing arm 35 by interference fit.
As shown in Figure 6 and Figure 7, the positive positive spring 31 that returns is a wind spring, is wound on base 25 and one end is fixed on base 25, be stuck on stop post 37 after other end pretension；It is a wind spring reversely to return positive spring 30, is wound in shell 26 and one end is fixed on shell 26, be stuck on stop post 40 after other end pretension.
Combination bearing profile as shown in Figure 8, the upper and lower bearing of each pair combination bearing have identical structure.Combination bearing is combined by bearing 44 and rubber bushing 45, and bearing 44 can be rolling bearing, parcel inner ring 46, rolling element 47 and outer ring 48, it is also possible to ball pivot or bushing；48 is also simultaneously the inner ring of rubber bushing, and the vulcanization of rubber between 48 rubber bushing outer ring 50 of rubber bushing inner ring has step surface on 48 and 50, rubber bushing 45 can be made to bear larger axial force.Bearing 44 inside combination bearing is used for supporting the subframe assembly 1 and 2 for needing revolution, and on the one hand 45 part of rubber bushing is used for two-stage vibration isolation, on the other hand can be used for compensating the malformation in manufacture, alignment error and chassis running.
As shown in figure 11, four power units 4,5,6,7（Fig. 1）It is installed in vehicle frame 3（Fig. 1）On, by taking left back power unit 6 as an example, by deceleration device 61, semiaxis 61, inner constant velocity cardan joint 64, outer end constant velocity cardan joint 63 impart power to wheel to driving machine 60.Driving machine 60 can be motor, hydraulic motor or put-put.Power source 59 such as battery or fuel may be mounted at 3 bottom of chassis in addition.
As shown in figure 12, electronic control system 10 controls the output speed and moment of torsion of four power units, and the braking moment of four arrestment mechanisms.
In the running of chassis, when difference occurs in the output torque of left and right wheelses on subframe assembly, in the presence of frictional ground force, a subframe assembly will be made to rotate around stub is hinged.When subframe assembly rotates, due to being hinged the presence of caster α, single wheel can be raised, and opposite side wheel can decline, and have the trend for making subframe assembly return to intermediate equilibria position in the effect of gravity；Simultaneously, spherical roller chute inside subframe top chock 23 can drive spherical roller 33, main story moving axis 34 is twisted back by lateral pin 32, lateral pin 32 and spherical roller 33 of the main story moving axis 34 by the other end is returned, and the 28 corresponding rotation of universal joint cylinder outer race is made using the spherical roller chute 41 in universal joint cylinder outer race 28；Be welded on outside universal joint cylinder outer race 28 time positive swing arm 35 and then rocking pin 36 can be driven around the roll bearing swing of universal joint cylinder outer race 28, finally one end of 30 or the 31 of time positive spring in one direction of promotion.The counteracting force of positive spring 30 or 31 is returned, aligning torque is formed, is reacted on subframe assembly by positive force will be returned with upper pathway.When subframe assembly returns to middle gentle position, due to the backstop of stopper posts 37 and 40, the counteracting force of spring 30 and 31 will not be applied on rocking pin 36, and aligning torque disappears.Limit spring is used for supporting and limiting go back to the bearing housing position of main story moving axis 34, while the vibration and impact during can relaxing chassis traveling, anti-non-return positive drive axle 34 is in shock other parts generation noise.Returning positive universal joint 24,27,28,32,33,34 and 41 is used for the deviations of the aligning device that compensation is caused due to the deformation of combination bearing rubber bushing part.
Fore sub frame assembly 1 has identical time positive mechanism with Rear secondary frame for vehicle assembly 2, and the weak impact that on the one hand can be corrected from ground automatically causes the small angle deflection of subframe assembly, on the other hand for the control action of auxiliary electron control system.
When electronic control system control forward and backward subframe around assembly around it is respective be hinged stub and rotate backward rotation when, divertical motion is realized on chassis（Figure 13）, turning center can change according to forward and backward subframe assembly outer corner difference.When electronic control system control forward and backward subframe around assembly it is respective around be hinged stub rotating in same direction when, translational motion is realized on chassis（Figure 14）.
Above-mentioned embodiment only for illustrating the technology design and feature of the invention of this reality, can not be limited the scope of the invention with this.Equivalent transformation or modification that all spirit according to main technical schemes of the present invention are done, should all be included within the scope of the present invention.
Claims (8)
1. a kind of four-wheel driving electric vehicle chassis includes fore sub frame assembly, Rear secondary frame for vehicle assembly, combination bearing, elastic aligning device, vehicle frame, power unit and electronic control system, it is characterized in that fore sub frame assembly and Rear secondary frame for vehicle assembly lead to a pair of combination bearings respectively is articulated with vehicle frame rear and front end, each pair combination bearing it is upper, the axis of lower combination bearing is constituted and is hinged stub, elastic aligning device connecting frame and subframe assembly, power unit has four groups, on vehicle frame, four wheels are driven respectively, four vehicle wheel rotational speeds of electronic control system precise control and moment of torsion, and braking moment.
2. fore sub frame assembly described in claim 1 and Rear secondary frame for vehicle assembly, it is characterised in that the fore sub frame assembly and Rear secondary frame for vehicle assembly have identical structure and composition, including subframe, wheel, arrestment mechanism and suspension system.
3. subframe described in claim 2, it is characterised in that have two coaxial bearing blocks for installing combination bearing on subframe, be hinged with vehicle frame by combination bearing.
4. combination bearing described in claim 1, it is characterized in that combination bearing has forward and backward two pairs, each pair combination bearing includes upper and lower two combination bearings, each combination bearing is made up of coaxial bearing and rubber bushing, the axis of each pair combination bearing is point-blank, what the straight line was constituted is hinged main pin axis, is hinged stub on the longitudinally asymmetric face in chassis, and has a little angle with vertical direction.
5. vehicle frame described in claim 1, it is characterised in that forward and backward two ends respectively have two coaxial terms to install the bearing block of combination bearings, leads to combination bearing and the fore sub frame assembly and Rear secondary frame for vehicle assembly described in a pair respectively and is hinged.
6. elastic aligning device described in claim 1, it is characterized in that each returns positive elastic device couples the forward and backward subframe assembly and the vehicle frame respectively, when subframe assembly is located at intermediate equilibria position relative to vehicle frame, elastic aligning device does not provide aligning torque, when subframe assembly deviates intermediate equilibria position relative to vehicle frame, elastic aligning device produces the aligning torque for making subframe position assembly return to intermediate equilibria position.
7. power unit described in claim 1, its feature have four groups in power unit, independent to drive four wheels；Power unit is installed on vehicle frame, is not rotated with the forward and backward subframe assembly.
8. electronic control system described in claim 1, it is characterized in that the rotating speed and moment of torsion of electronic control system precise control motor, and brake torque, make on the wheel of both sides, to produce the torque difference of setting, so that respectively each around stub is hinged to angle that is in the same direction or rotating backward setting, the forward and backward subframe assembly realizes that chassis turns to and translates.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510577044.5A CN106515854A (en) | 2015-09-13 | 2015-09-13 | Four-wheel drive vehicle chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510577044.5A CN106515854A (en) | 2015-09-13 | 2015-09-13 | Four-wheel drive vehicle chassis |
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| Publication Number | Publication Date |
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| CN106515854A true CN106515854A (en) | 2017-03-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510577044.5A Pending CN106515854A (en) | 2015-09-13 | 2015-09-13 | Four-wheel drive vehicle chassis |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113895215A (en) * | 2021-09-29 | 2022-01-07 | 酷哇环境技术有限公司 | Omnidirectional movement chassis system |
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| WO2009156769A1 (en) * | 2008-06-25 | 2009-12-30 | Hatzikakidis Dimitrios A | Parametric chassis system for vehicles, comprising four suspension elements, incorporating a lateral torsion bar and co-axial damper unit, in a box-module, that allows central location of heavy items, such as batteries. |
| CN202827710U (en) * | 2012-06-19 | 2013-03-27 | 张亚伟 | Novel four-wheel steering system controlled by four servos |
| CN203511767U (en) * | 2013-10-10 | 2014-04-02 | 湖北三江航天万山特种车辆有限公司 | Combined vehicle frame of multiaxial vehicle with large axle distance |
| US8894134B2 (en) * | 2011-01-26 | 2014-11-25 | Honda Motor Co., Ltd | Front body of vehicle |
| CN104925132A (en) * | 2015-07-08 | 2015-09-23 | 武汉理工大学 | Chassis with four-wheel steering function |
| CN205417765U (en) * | 2015-09-13 | 2016-08-03 | 吴昊天 | Four wheel drive vehicle chassis |
-
2015
- 2015-09-13 CN CN201510577044.5A patent/CN106515854A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2009156769A1 (en) * | 2008-06-25 | 2009-12-30 | Hatzikakidis Dimitrios A | Parametric chassis system for vehicles, comprising four suspension elements, incorporating a lateral torsion bar and co-axial damper unit, in a box-module, that allows central location of heavy items, such as batteries. |
| US8894134B2 (en) * | 2011-01-26 | 2014-11-25 | Honda Motor Co., Ltd | Front body of vehicle |
| CN202827710U (en) * | 2012-06-19 | 2013-03-27 | 张亚伟 | Novel four-wheel steering system controlled by four servos |
| CN203511767U (en) * | 2013-10-10 | 2014-04-02 | 湖北三江航天万山特种车辆有限公司 | Combined vehicle frame of multiaxial vehicle with large axle distance |
| CN104925132A (en) * | 2015-07-08 | 2015-09-23 | 武汉理工大学 | Chassis with four-wheel steering function |
| CN205417765U (en) * | 2015-09-13 | 2016-08-03 | 吴昊天 | Four wheel drive vehicle chassis |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113895215A (en) * | 2021-09-29 | 2022-01-07 | 酷哇环境技术有限公司 | Omnidirectional movement chassis system |
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