CN106627745A - Drive-by-wire four-wheel independent steering system with steering motor mounted on Macpherson suspension lower swinging arm - Google Patents
Drive-by-wire four-wheel independent steering system with steering motor mounted on Macpherson suspension lower swinging arm Download PDFInfo
- Publication number
- CN106627745A CN106627745A CN201611204776.0A CN201611204776A CN106627745A CN 106627745 A CN106627745 A CN 106627745A CN 201611204776 A CN201611204776 A CN 201611204776A CN 106627745 A CN106627745 A CN 106627745A
- Authority
- CN
- China
- Prior art keywords
- steer motor
- swing arm
- lower swing
- steering system
- wheel
- 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.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0418—Electric motor acting on road wheel carriers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
- B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
- B62D7/146—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by comprising means for steering by acting on the suspension system, e.g. on the mountings of the suspension arms
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention relates to a drive-by-wire four-wheel independent steering system with a steering motor mounted on a Macpherson suspension lower swinging arm. The drive-by-wire four-wheel independent steering system comprises a frame, wheels, a suspension rack and a steering motor assembly, wherein the suspension rack is respectively connected with the wheels and the frame; the suspension rack has a lower swinging arm, a knuckle and a Macpherson suspension rack of a spring damper; the lower swinging arm and the spring damper are both connected with the frame and the knuckle; the knuckle is connected with the wheels; the steering motor assembly is fixed on the lower swinging arm and connected with the knuckle via a universal transmission device to drive the knuckle to rotate along a main pin axis. Compared with the prior art, the drive-by-wire four-wheel independent steering system with the steering motor mounted on the Macpherson suspension lower swinging arm is advantaged by high system integration degree, great modularization and flexible steering as well as wide steering range.
Description
Technical field
The present invention relates to electric automobile chassis and the field of steering, more particularly, to a kind of steer motor McPherson suspension is located at
The line traffic control Four wheel independent steering system of lower swing arm.
Background technology
There is certain letter between inside and outside wheel steering angle when conventional truck steering ensures to turn to by tie rod linkage
Number relation, approx meets Ackermann steering rule.But due to the presence of steering trapezium, inevitably result in and jumped up and down in wheel
The movement interference of suspension guide mechanism and steering gear connection is produced when dynamic, the steering of wide-angle cannot be also realized.And line traffic control four-wheel is only
Vertical steering technique eliminates traditional ackerman steering, fundamentally solves the problem.Line traffic control four-wheel independent steering technology
By four sets of individually controllable servo motor transmission system drive vehicle wheel rotations, in the case where structure is allowed, corner can reach
± 90 °, vehicle is set to realize the various modes such as pivot stud, crab row.But existing line traffic control independent steering technology is often adopted
The simple suspension form such as candle type suspension, it is difficult to the exercise performance of suspension is taken into account while independent steering is realized.
The content of the invention
The purpose of the present invention is to provide the line traffic control that a kind of steer motor is located at McPherson suspension lower swing arm for the problems referred to above
Four wheel independent steering system.
The purpose of the present invention can be achieved through the following technical solutions：
A kind of steer motor be located at McPherson suspension lower swing arm line traffic control Four wheel independent steering system, including vehicle frame, wheel,
Suspension and steer motor assembly, the suspension is connected respectively with wheel and vehicle frame, the suspension be include lower swing arm, knuckle and
The McPherson suspension of spring cushion, the lower swing arm and spring cushion are respectively connected with vehicle frame and knuckle, described turn
It is connected with wheel to section, the steer motor assembly is connected firmly on lower swing arm, is connected with knuckle by universal driving device, drives
Dynamic knuckle is rotated along main pin axis.
The steer motor assembly includes electric machine casing and steer motor, and the electric machine casing is fixed on lower swing arm, institute
Steer motor is stated inside electric machine casing, is connected with knuckle by universal driving device by steer motor.
Be additionally provided with bevel gear assembly between the steer motor and universal driving device, the bevel gear assembly respectively with turn
To the connection of motor output shaft, steer motor driven shaft and universal driving device.
The bevel gear assembly includes drive bevel gear and driven wheel of differential, and the drive bevel gear is arranged on steer motor
On output shaft, the driven wheel of differential is arranged on steer motor driven shaft, is connected with universal driving device.
The steer motor driven shaft is also installed on lower swing arm by bearing.
The spring cushion is connected by elastic caoutchouc hinge with vehicle frame.
The main pin axis are in the motion of the centre of motion that spring cushion cuts with scissors with elastic caoutchouc and universal driving device
The line of the heart.
The steer motor assembly also includes the reductor with auto-lock function.
The reductor includes turbine worm reducer.
The universal driving device includes constant velocity cardan joint or nonconstant velocity universal joint.
Compared with prior art, the invention has the advantages that：
(1) macpherson suspension is combined with wire controlled four wheel steering system, is realized good Suspension movement
Steer motor assembly is arranged at suspension lower swing arm while learning characteristic, realizes the integration of suspension and steering, collected
It is high into degree, it is distributed to turn to the space that arrangement also saves front deck, realize higher level of integrated system and the degree of modularity.
(2) steer motor assembly is arranged at the lower swing arm of McPherson suspension, and the driving-chain of divertical motion is short, steering response
It is sensitiveer, it is in hgher efficiency, and without the need for taking wheel side space, take up room little.
(3) steering gear connection of conventional steering system is eliminated, steering gear connection is thoroughly avoided and suspension is oriented between leverage
Interference, the limit steering angle of wheel can be increased by rational arrangement.
(4) connection of steer motor and knuckle is realized by universal driving device, while universal driving device can be
Constant velocity cardan joint can also be nonconstant velocity universal joint, and implementation is flexible.
(5) bevel gear assembly is additionally provided between steer motor and universal driving device, changes the direction of transmission torque, be easy to
The transmission of torque.
(6) steer motor assembly also includes the reductor with auto-lock function, when aligning torque is larger, it is possible to achieve turn
To the deceleration transmission of motor assembly.
Description of the drawings
Fig. 1 is the structure principle chart of the present invention；
Fig. 2 is the structural representation of the present invention；
Wherein, 1 is that elastic caoutchouc cuts with scissors assembly, and 2 is spring cushion assembly, and 3 is steer motor assembly, and 4 is lower swing arm, 5
For bevel gear pair, 6 is universal driving device, and 7 is knuckle, and 8 is driven shaft.
Specific embodiment
Below in conjunction with the accompanying drawings the present invention is described in detail with specific embodiment.The present embodiment is with technical solution of the present invention
Premised on implemented, give detailed embodiment and specific operating process, but protection scope of the present invention is not limited to
Following embodiments.
It is illustrated in figure 1 the line traffic control four-wheel independence that the steer motor provided in the present embodiment is located at McPherson suspension lower swing arm
Steering, including vehicle frame, wheel, suspension and steer motor assembly, the suspension is connected respectively with wheel and vehicle frame, and suspension is
Including the McPherson suspension of lower swing arm, knuckle and spring cushion, lower swing arm and spring cushion respectively with vehicle frame and turn
To section connection, knuckle is connected with wheel, and institute's steer motor assembly is connected firmly on lower swing arm, by universal driving device and steering
Section connection, drives knuckle to rotate along main pin axis.
The system realizes that principle is on the basis of traditional McPherson suspension structure, by the lower ball of former McPherson suspension
Hinge kinematic pair is split as one and is rotated a secondary and Hooke's hinge (being realized using universal driving device) by motor-driven.Do not turning
To when motor do not rotate, the structure be capable of achieving suspension bounce.It is not difficult theoretically to prove, the fractionation of the kinematic pair does not affect
Mechanism freedom, the suspension frame structure is set up.
Specific structure is as shown in Fig. 2 the steer motor is located at the line traffic control four-wheel independent steering of McPherson suspension lower swing arm
System is mainly by elastic caoutchouc hinge assembly 1, spring cushion assembly 2, steer motor assembly 3, lower swing arm 4, bevel gear to 5, ten thousand
Constitute to transmission device 6, knuckle 7 and driven shaft 8.
It can be seen that the electric machine casing in steer motor assembly 2 is fixed on the lower swing arm 4 of McPherson suspension,
The output end of motor connects first bevel-gear sett 3, and drive bevel gear is arranged on motor output shaft, and driven wheel of differential is arranged on
On driven shaft 8, driven shaft 8 is arranged on lower swing arm 4 by bearing simultaneously.Driven shaft passes through universal driving device 6 with knuckle 7
Connection.According to the arrangement, the torque of steer motor output passes sequentially through bevel gear and changes direction to 4 and universal driving device 6
Afterwards, drive knuckle 7 to rotate around stub, realize turning function.Arrangement between remaining component is outstanding with traditional McPherson
Frame is consistent, and spring cushion assembly 2 cuts with scissors assembly 1 and is connected on vehicle body or subframe by elastic caoutchouc.Include the elasticity of bearing
Rubber hinge assembly 1 realizes the movement relation of ball pivot between the two.Close to rotate secondary motion between the inner side of lower swing arm 4 and vehicle body
System (generally uses rubber hinge to realize, be not drawn into), and outside is connected with knuckle by ball pivot.Spring cushion upper bracket and vehicle body
(realize especially by the rubber parts assembly containing bearing) for ball pivot annexation.Spring cushion undersetting is fixed with knuckle.
The main pin axis of the structure are the Spherical Joint Motion center and the universal driving device centre of motion of spring cushion upper bracket and vehicle body
Line.
Decelerator (not shown) is included in steer motor assembly 2, the decelerator can be passed using turbine and worm, planetary gear etc.
Dynamic form, is proposed with turbine worm reducer and realizes self-locking when aligning torque is larger.In addition, in the present embodiment, it is just
In arrangement, motor is lying on lower swing arm 4, therefore is not limited only to only for the direction for changing transmission torque to 5 using bevel gear
Using bevel gear, the mechanism for realizing identical function can be turbine and worm etc..Universal driving device 6 can be various constant speed or not
The universal joint of constant speed.
Claims (10)
1. a kind of steer motor is located at the line traffic control Four wheel independent steering system of McPherson suspension lower swing arm, including vehicle frame, wheel, outstanding
Frame and steer motor assembly, the suspension is connected respectively with wheel and vehicle frame, it is characterised in that the suspension is to include the bottom
The McPherson suspension of arm, knuckle and spring cushion, the lower swing arm and spring cushion respectively with vehicle frame and knuckle
Connection, the knuckle be connected with wheel, and the steer motor assembly is connected firmly on lower swing arm, by universal driving device and turn
To section connection, knuckle is driven to rotate along main pin axis.
2. steer motor according to claim 1 is located at the line traffic control Four wheel independent steering system of McPherson suspension lower swing arm,
Characterized in that, the steer motor assembly includes electric machine casing and steer motor, the electric machine casing is fixed on lower swing arm,
The steer motor is located inside electric machine casing, is connected with knuckle by universal driving device by steer motor.
3. steer motor according to claim 2 is located at the line traffic control Four wheel independent steering system of McPherson suspension lower swing arm,
Characterized in that, bevel gear assembly is additionally provided between the steer motor and universal driving device, the bevel gear assembly difference
It is connected with steer motor output shaft, steer motor driven shaft and universal driving device.
4. steer motor according to claim 3 is located at the line traffic control Four wheel independent steering system of McPherson suspension lower swing arm,
Characterized in that, the bevel gear assembly includes drive bevel gear and driven wheel of differential, the drive bevel gear is arranged on and turns to
On motor output shaft, the driven wheel of differential is arranged on steer motor driven shaft, is connected with universal driving device.
5. steer motor according to claim 3 is located at the line traffic control Four wheel independent steering system of McPherson suspension lower swing arm,
Characterized in that, the steer motor driven shaft is also installed on lower swing arm by bearing.
6. steer motor according to claim 1 is located at the line traffic control Four wheel independent steering system of McPherson suspension lower swing arm,
Characterized in that, the spring cushion is connected by elastic caoutchouc hinge with vehicle frame.
7. steer motor according to claim 6 is located at the line traffic control Four wheel independent steering system of McPherson suspension lower swing arm,
Characterized in that, the main pin axis are spring cushion and the centre of motion of elastic caoutchouc hinge and the motion of universal driving device
The line at center.
8. steer motor according to claim 1 is located at the line traffic control Four wheel independent steering system of McPherson suspension lower swing arm,
Characterized in that, the steer motor assembly also includes the reductor with auto-lock function.
9. steer motor according to claim 8 is located at the line traffic control Four wheel independent steering system of McPherson suspension lower swing arm,
Characterized in that, the reductor includes turbine worm reducer.
10. steer motor according to claim 1 is located at the line traffic control Four wheel independent steering system of McPherson suspension lower swing arm,
Characterized in that, the universal driving device includes constant velocity cardan joint or nonconstant velocity universal joint.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611204776.0A CN106627745B (en) | 2016-12-23 | 2016-12-23 | Steering motor is located at the line traffic control Four wheel independent steering system of McPherson suspension lower swing arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611204776.0A CN106627745B (en) | 2016-12-23 | 2016-12-23 | Steering motor is located at the line traffic control Four wheel independent steering system of McPherson suspension lower swing arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106627745A true CN106627745A (en) | 2017-05-10 |
| CN106627745B CN106627745B (en) | 2019-12-03 |
Family
ID=58826602
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611204776.0A Active CN106627745B (en) | 2016-12-23 | 2016-12-23 | Steering motor is located at the line traffic control Four wheel independent steering system of McPherson suspension lower swing arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106627745B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107186727A (en) * | 2017-06-15 | 2017-09-22 | 东北大学 | A kind of dining room meal delivering car |
| CN110386185A (en) * | 2018-04-19 | 2019-10-29 | 舍弗勒技术股份两合公司 | Steering system and wheel hub for wheel hub driving vehicle drive vehicle |
| CN110566664A (en) * | 2019-07-29 | 2019-12-13 | 李昶 | Shock attenuation variable speed steering mechanism |
| CN111559425A (en) * | 2020-04-26 | 2020-08-21 | 东风汽车集团有限公司 | McPherson suspension structure capable of steering in all directions based on hub motor |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030220727A1 (en) * | 2002-05-21 | 2003-11-27 | Visteon Global Technologies, Inc. | Generating steering feel for steer-by-wire systems |
| DE10244140A1 (en) * | 2002-09-23 | 2004-04-01 | Bayerische Motoren Werke Ag | Arrangement of an actuator for generating a steering lock of a steerable vehicle wheel in the suspension region of the wheel comprises a pull rod supporting a pivot bearing |
| US20040140642A1 (en) * | 2000-06-27 | 2004-07-22 | Perello Gian Luigi | Electronically controlled suspension for motor vehicles |
| JP2005324606A (en) * | 2004-05-12 | 2005-11-24 | Toyota Motor Corp | Electric automobile |
| CN101638052A (en) * | 2009-08-21 | 2010-02-03 | 山东大学 | Wheel assembly with integration of independent driving, steering, suspending and braking |
| CN102785565A (en) * | 2012-07-30 | 2012-11-21 | 同济大学 | Macpherson suspension wheel rim electric driving system for steering wheel |
| CN102887058A (en) * | 2012-10-15 | 2013-01-23 | 同济大学 | Speed reducing type electric drive system in integrated McPherson hanger bracket wheel |
| CN106240628A (en) * | 2016-08-22 | 2016-12-21 | 吉林大学 | A kind of line traffic control Four wheel independent steering system based on universal drive structure |
-
2016
- 2016-12-23 CN CN201611204776.0A patent/CN106627745B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040140642A1 (en) * | 2000-06-27 | 2004-07-22 | Perello Gian Luigi | Electronically controlled suspension for motor vehicles |
| US20030220727A1 (en) * | 2002-05-21 | 2003-11-27 | Visteon Global Technologies, Inc. | Generating steering feel for steer-by-wire systems |
| DE10244140A1 (en) * | 2002-09-23 | 2004-04-01 | Bayerische Motoren Werke Ag | Arrangement of an actuator for generating a steering lock of a steerable vehicle wheel in the suspension region of the wheel comprises a pull rod supporting a pivot bearing |
| JP2005324606A (en) * | 2004-05-12 | 2005-11-24 | Toyota Motor Corp | Electric automobile |
| CN101638052A (en) * | 2009-08-21 | 2010-02-03 | 山东大学 | Wheel assembly with integration of independent driving, steering, suspending and braking |
| CN102785565A (en) * | 2012-07-30 | 2012-11-21 | 同济大学 | Macpherson suspension wheel rim electric driving system for steering wheel |
| CN102887058A (en) * | 2012-10-15 | 2013-01-23 | 同济大学 | Speed reducing type electric drive system in integrated McPherson hanger bracket wheel |
| CN106240628A (en) * | 2016-08-22 | 2016-12-21 | 吉林大学 | A kind of line traffic control Four wheel independent steering system based on universal drive structure |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107186727A (en) * | 2017-06-15 | 2017-09-22 | 东北大学 | A kind of dining room meal delivering car |
| CN110386185A (en) * | 2018-04-19 | 2019-10-29 | 舍弗勒技术股份两合公司 | Steering system and wheel hub for wheel hub driving vehicle drive vehicle |
| CN110566664A (en) * | 2019-07-29 | 2019-12-13 | 李昶 | Shock attenuation variable speed steering mechanism |
| CN111559425A (en) * | 2020-04-26 | 2020-08-21 | 东风汽车集团有限公司 | McPherson suspension structure capable of steering in all directions based on hub motor |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106627745B (en) | 2019-12-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN201670260U (en) | Independent steering device and independent suspension system | |
| CN106627745A (en) | Drive-by-wire four-wheel independent steering system with steering motor mounted on Macpherson suspension lower swinging arm | |
| CN106627746B (en) | Steering motor is arranged in the line traffic control Four wheel independent steering system of double wishbone suspension swing arm | |
| CN106741144A (en) | The Four wheel independent steering system that steering motor is placed on double wishbone suspension knuckle | |
| CN106741143A (en) | Steering motor is located at the line traffic control Four wheel independent steering system of McPherson suspension knuckle | |
| CN102582386A (en) | Steering/suspension integrated system | |
| CN106985904A (en) | A kind of swing arm middle doube bridge steering | |
| CN103569197A (en) | Four-wheel steering system and control method thereof | |
| CN105109598A (en) | Child electrocar | |
| CN106741145A (en) | Steering motor is located at the line traffic control Four wheel independent steering system at McPherson suspension hard spot | |
| CN112092539A (en) | Movable chassis | |
| CN106741146A (en) | McPherson suspension knuckle is provided with the line traffic control Four wheel independent steering system of steering motor | |
| CN203268122U (en) | Automobile four-wheel steering system | |
| US20190070950A1 (en) | Connecting structure connecting in-wheel motor unit and strut-type suspension apparatus | |
| CN106741142A (en) | Steering motor is arranged on knuckle and the Four wheel independent steering system with pull bar | |
| JP2017007455A (en) | Suspension structure for in-wheel motor drive device | |
| CN110497957B (en) | Steering device | |
| JP6613056B2 (en) | Suspension structure for in-wheel motor drive | |
| CN209008327U (en) | A kind of built-in McPherson suspension structure turned to | |
| US11964531B2 (en) | Transverse wheel suspension system | |
| CN213501652U (en) | Movable chassis | |
| JPS6361231B2 (en) | ||
| CN203020367U (en) | Automobile steering system and automobile | |
| CN113263909A (en) | Four-wheel independent damping, steering and driving wheeled robot chassis | |
| CN107054462A (en) | A kind of heavy type chassis doube bridge steering |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |