CN106741142A - Steering motor is arranged on knuckle and the Four wheel independent steering system with pull bar - Google Patents
Steering motor is arranged on knuckle and the Four wheel independent steering system with pull bar Download PDFInfo
- Publication number
- CN106741142A CN106741142A CN201611204388.2A CN201611204388A CN106741142A CN 106741142 A CN106741142 A CN 106741142A CN 201611204388 A CN201611204388 A CN 201611204388A CN 106741142 A CN106741142 A CN 106741142A
- Authority
- CN
- China
- Prior art keywords
- knuckle
- steering
- pull bar
- steering motor
- wheel independent
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- 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.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—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
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- 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
It is arranged on knuckle the present invention relates to a kind of steering motor and the Four wheel independent steering system with pull bar, including steering motor, top link and lower swing arm, and for driving the knuckle of wheel steering, top link and lower swing arm are connected with vehicle body, steering also includes pull bar and electric machine support, electric machine support is fixed on knuckle, and one end is connected with top link, the other end is connected by pull bar with vehicle frame, steering motor is fixed on electric machine support, and output shaft is connected by key with knuckle, lower swing arm is rotated with knuckle and is connected.Compared with prior art, the present invention is oriented to using pull bar to Suspension movement, and suspension system is preferable to the bearing capacity of side force and aligning torque.
Description
Technical field
The present invention relates to a kind of steering, it is arranged on knuckle and with pull bar more particularly, to a kind of steering motor
Four wheel independent steering system.
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.And existing Four wheel independent steering system is often used
The simple suspension form such as candle type suspension, it is difficult to realize preferable Suspension movement performance.
The content of the invention
The purpose of the present invention is exactly to provide a kind of steering motor for the defect for overcoming above-mentioned prior art to exist to arrange
In on knuckle and the Four wheel independent steering system with pull bar.
The purpose of the present invention can be achieved through the following technical solutions：
A kind of steering motor is arranged on knuckle and the Four wheel independent steering system with pull bar, including steering motor,
Top link and lower swing arm, and for driving the knuckle of wheel steering, the top link and lower swing arm are connected with vehicle body, described
Steering also includes pull bar and electric machine support, and the electric machine support is fixed on knuckle, and one end is connected with top link, separately
One end is connected by pull bar with vehicle frame, and the steering motor is fixed on electric machine support, and output shaft is connected by key with knuckle
Connect, the lower swing arm is connected with knuckle.
The two ends of the pull bar are connected by ball pivot with electric machine support and vehicle frame.
The electric machine support is connected by Hooke's hinge with top link.
The lower swing arm is connected by ball pivot with knuckle.
The ball pivot is centrally located on the axis of steering motor output shaft.
The axis of the thrust bearing and the axis of steering motor output shaft overlap.
The top link and lower swing arm are connected by elastic caoutchouc bushing with vehicle body.
The steering motor also includes decelerator.
The decelerator is turbine worm reducer.
Compared with prior art, the present invention has advantages below：
1) advantage of double cross arm independent suspension and wire-controlled steering system is combined, good suspension kinematical characteristic is realized
Steering motor is arranged in wheel side simultaneously, the integration of suspension and steering is realized, integrated level is high.
2) steering motor is arranged in wheel side, and the driving-chain of divertical motion is short, and steering response is more sensitive, in hgher efficiency.
3) Suspension movement is oriented to using pull bar, suspension system to the bearing capacity of side force and aligning torque compared with
It is good.
4) steering gear connection of conventional steering system is eliminated, steering gear connection is thoroughly avoided and suspension is oriented between leverage
Interference, and steering angle close to positive and negative 90 degree can be made by reasonable Arrangement.
5) two ends of pull bar are connected by ball pivot with electric machine support and top link, can avoid isolated degree of freedom.
6) axis of the center line of ball pivot and steering motor output shaft is located on straight line, and the axis of thrust bearing and
The axis of steering motor output shaft is located on straight line, the kingpin axis of electrical axis namely system.
7) kinematic pair relation is Hooke's hinge between electric machine support and top link, and the rotational freedom with both direction can
Realized with by cross pin or other equivalents.
Brief description of the drawings
Fig. 1 is mechanism principle figure of the invention；
Fig. 2 is the structural representation of steering of the present invention；
Wherein：1st, upper ball pivot, 2, top link, 3, lower swing arm, 4, lower ball pivot, 5, knuckle, 6, brake disc, 7, hub bearing
Clamp nut, 8, hub bearing assembly, 9, electric machine support, 10, steering motor, 11, vehicle body, 12, pull bar.
Specific embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.The present embodiment is with technical solution of the present invention
Premised on implemented, give detailed implementation method and specific operating process, but protection scope of the present invention is not limited to
Following embodiments.
A kind of steering motor is arranged on knuckle and the Four wheel independent steering system with pull bar, as shown in Fig. 2 including
Steering motor 10, top link 2 and lower swing arm 3, and for driving the knuckle 5 of wheel steering, top link 2 and lower swing arm 3 with
Vehicle body 11 is connected, and steering also includes pull bar 12 and electric machine support 9, and electric machine support 9 is fixed on knuckle, and one end with it is upper
Swing arm 2 is connected, and the other end is connected by pull bar 12 with vehicle frame, and steering motor 10 is fixed on electric machine support 9, and output shaft passes through
Key is connected with knuckle 5, and lower swing arm 3 is connected with knuckle 7.
The two ends of pull bar 12 are connected by ball pivot with electric machine support 9 and vehicle frame, and electric machine support 9 passes through Hooke's hinge and upper pendulum
Arm 2 is connected, and lower swing arm 3 is connected by ball pivot 4 with knuckle 7.
Ball pivot 4 is centrally located on the axis of the output shaft of steering motor 10, and thrust bearing axis and steering motor 10
The axis of output shaft overlaps.
Top link 2 and lower swing arm 3 are connected by elastic caoutchouc bushing with vehicle body 11.
Steering motor 2 also includes decelerator, and decelerator (not shown) can be using the transmission shape such as turbine and worm, planetary gear
Formula, when aligning torque is larger being proposed with turbine worm reducer realizes self-locking.
Housing present applicant proposes steering motor 2 (steering motor uses servomotor) is connected on electric machine support 9, electricity
Machine support 9 is contained within thrust bearing (its axis is identical with electrical axis) and is connected with knuckle by thrust bearing, and motor is defeated
Shaft, to knuckle transmitting torque, can drive knuckle to be rotated around electrical axis i.e. bearing axis by forms such as keys, to realize
This point, electrical axis must be by connecting the center line of ball pivot 4 of knuckle and lower swing arm 3, and electrical axis namely system turn
To main pin axis.Electric machine support 9 is connected by ball pivot with the outside of top link 2, while electric machine support passes through drawing of the two ends with ball pivot
Bar is connected with vehicle frame, and such as to avoid isolated degree of freedom, pull bar 12 also can be used Hooke's hinge with the junction of vehicle body 11.Top link 2
With lower swing arm 3 and vehicle body 11 to rotate secondary motion relation, can specifically be realized by elastic caoutchouc bushing.Servomotor assembly is exported
The center that axis passes through lower ball pivot 4.The torque (or after amplifying through reductor) of servomotor assembly output is exported onto knuckle,
Enable that wheel rotates so as to realize line traffic control four-wheel independent steering along stub.
The structural scheme of mechanism of the organization plan as shown in figure 1, the program is on the basis of traditional double wishbone suspension structure,
Rotation pair of the axis by the center of lower ball pivot 4, and rotation pair are added on former knuckle 5 by controllable steering motor
2 (or comprising decelerators) are controlled, due to carrying out divertical motion control by motor, original track rod medial extremity with
Vehicle body is hinged by ball pivot or Hooke, the pull bar is played a part of Suspension movement and is oriented to.Structure electricity when not turning to
Machine does not rotate, and its structure is identical with double wishbone suspension structure.
Reductor in steering motor can use the reductor of turbine and worm or other forms, when aligning torque is larger,
Steering motor and reductor assembly are proposed with turbine and worm or other when wheel direction itself cannot be kept to stablize can be realized
The deceleration transmission form of self-locking.
Claims (9)
1. a kind of steering motor is arranged on knuckle and the Four wheel independent steering system with pull bar, including steering motor
(10), top link (2) and lower swing arm (3), and for driving the knuckle (5) of wheel steering, the top link (2) and the bottom
Arm (3) is connected with vehicle body (11), it is characterised in that the steering also includes pull bar (12) and electric machine support (9), the electricity
Machine support (9) is fixed on knuckle, and one end is connected with top link (2), and the other end is connected by pull bar (12) with vehicle frame, institute
Steering motor (10) is stated to be fixed on electric machine support (9), and output shaft is connected by key with knuckle (5), the lower swing arm (3)
It is connected with knuckle (7).
2. a kind of steering motor according to claim 1 is arranged in the four-wheel independent steering system on knuckle and with pull bar
System, it is characterised in that the two ends of the pull bar (12) are connected by ball pivot with electric machine support (9) and vehicle frame.
3. a kind of steering motor according to claim 1 is arranged in the four-wheel independent steering system on knuckle and with pull bar
System, it is characterised in that the electric machine support (9) is connected by Hooke's hinge with top link (2).
4. a kind of steering motor according to claim 1 is arranged in the four-wheel independent steering system on knuckle and with pull bar
System, it is characterised in that the lower swing arm (3) is connected by ball pivot (4) with knuckle (7).
5. a kind of steering motor according to claim 4 is arranged in the four-wheel independent steering system on knuckle and with pull bar
System, it is characterised in that the ball pivot (4) is centrally located on the axis of steering motor (10) output shaft.
6. a kind of steering motor according to claim 1 is arranged in the four-wheel independent steering system on knuckle and with pull bar
System, it is characterised in that the axis of axis and steering motor (10) output shaft of the thrust bearing overlaps.
7. a kind of steering motor according to claim 1 is arranged in the four-wheel independent steering system on knuckle and with pull bar
System, it is characterised in that the top link (2) and lower swing arm (3) are connected by elastic caoutchouc bushing with vehicle body (11).
8. a kind of steering motor according to claim 1 is arranged in the four-wheel independent steering system on knuckle and with pull bar
System, it is characterised in that the steering motor (2) also includes decelerator.
9. a kind of steering motor according to claim 8 is arranged in the four-wheel independent steering system on knuckle and with pull bar
System, it is characterised in that the decelerator is turbine worm reducer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611204388.2A CN106741142A (en) | 2016-12-23 | 2016-12-23 | Steering motor is arranged on knuckle and the Four wheel independent steering system with pull bar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611204388.2A CN106741142A (en) | 2016-12-23 | 2016-12-23 | Steering motor is arranged on knuckle and the Four wheel independent steering system with pull bar |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106741142A true CN106741142A (en) | 2017-05-31 |
Family
ID=58897757
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611204388.2A Pending CN106741142A (en) | 2016-12-23 | 2016-12-23 | Steering motor is arranged on knuckle and the Four wheel independent steering system with pull bar |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106741142A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN114056419A (en) * | 2020-08-06 | 2022-02-18 | 丰田自动车株式会社 | Steering system |
| CN114670920A (en) * | 2022-03-14 | 2022-06-28 | 吉林大学 | Automatic wheel module for sliding plate type chassis |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101638052A (en) * | 2009-08-21 | 2010-02-03 | 山东大学 | Wheel assembly with integration of independent driving, steering, suspending and braking |
| CN203094172U (en) * | 2012-12-24 | 2013-07-31 | 中国科学院深圳先进技术研究院 | Steer-by-wire device capable of independent steering and driving electric automobile and suspension system thereof |
| CN204222568U (en) * | 2014-11-03 | 2015-03-25 | 吉林大学 | A kind of single oil cylinder suspension of In-wheel motor driving battery-driven car |
| DE102014004231A1 (en) * | 2014-03-25 | 2015-10-01 | Thyssenkrupp Presta Ag | steering device |
| CN204749770U (en) * | 2015-06-03 | 2015-11-11 | 同济大学 | Combine electromagnetism of cam to present two xarms initiative suspensions of ability formula |
| CN205706845U (en) * | 2016-06-06 | 2016-11-23 | 安徽工程大学 | A kind of four wheels of electric automobile independent steering assembly |
| CN205769545U (en) * | 2016-04-29 | 2016-12-07 | 深圳大学 | A kind of wheel hub electric automobile rear suspension independence and zero turn radius device |
-
2016
- 2016-12-23 CN CN201611204388.2A patent/CN106741142A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101638052A (en) * | 2009-08-21 | 2010-02-03 | 山东大学 | Wheel assembly with integration of independent driving, steering, suspending and braking |
| CN203094172U (en) * | 2012-12-24 | 2013-07-31 | 中国科学院深圳先进技术研究院 | Steer-by-wire device capable of independent steering and driving electric automobile and suspension system thereof |
| DE102014004231A1 (en) * | 2014-03-25 | 2015-10-01 | Thyssenkrupp Presta Ag | steering device |
| CN204222568U (en) * | 2014-11-03 | 2015-03-25 | 吉林大学 | A kind of single oil cylinder suspension of In-wheel motor driving battery-driven car |
| CN204749770U (en) * | 2015-06-03 | 2015-11-11 | 同济大学 | Combine electromagnetism of cam to present two xarms initiative suspensions of ability formula |
| CN205769545U (en) * | 2016-04-29 | 2016-12-07 | 深圳大学 | A kind of wheel hub electric automobile rear suspension independence and zero turn radius device |
| CN205706845U (en) * | 2016-06-06 | 2016-11-23 | 安徽工程大学 | A kind of four wheels of electric automobile independent steering assembly |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN114056419A (en) * | 2020-08-06 | 2022-02-18 | 丰田自动车株式会社 | Steering system |
| CN114670920A (en) * | 2022-03-14 | 2022-06-28 | 吉林大学 | Automatic wheel module for sliding plate type chassis |
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|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170531 |