CN106741146A - McPherson suspension knuckle is provided with the line traffic control Four wheel independent steering system of steering motor - Google Patents
McPherson suspension knuckle is provided with the line traffic control Four wheel independent steering system of steering motor Download PDFInfo
- Publication number
- CN106741146A CN106741146A CN201611205367.2A CN201611205367A CN106741146A CN 106741146 A CN106741146 A CN 106741146A CN 201611205367 A CN201611205367 A CN 201611205367A CN 106741146 A CN106741146 A CN 106741146A
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- China
- Prior art keywords
- knuckle
- steering motor
- steering
- suspension
- 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.)
- 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
- B62D5/0421—Electric motor acting on or near steering gear
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G15/00—Resilient suspensions characterised by arrangement, location or type of combined spring and vibration damper, e.g. telescopic type
- B60G15/02—Resilient suspensions characterised by arrangement, location or type of combined spring and vibration damper, e.g. telescopic type having mechanical spring
- B60G15/06—Resilient suspensions characterised by arrangement, location or type of combined spring and vibration damper, e.g. telescopic type having mechanical spring and fluid damper
- B60G15/067—Resilient suspensions characterised by arrangement, location or type of combined spring and vibration damper, e.g. telescopic type having mechanical spring and fluid damper characterised by the mounting on the vehicle body or chassis of the spring and damper unit
- B60G15/068—Resilient suspensions characterised by arrangement, location or type of combined spring and vibration damper, e.g. telescopic type having mechanical spring and fluid damper characterised by the mounting on the vehicle body or chassis of the spring and damper unit specially adapted for MacPherson strut-type suspension
-
- 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
- B62D7/18—Steering knuckles; King pins
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
- B60G2204/10—Mounting of suspension elements
- B60G2204/12—Mounting of springs or dampers
- B60G2204/129—Damper mount on wheel suspension or knuckle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
- B60G2204/10—Mounting of suspension elements
- B60G2204/14—Mounting of suspension arms
- B60G2204/149—Mounting of rigid axle on wheel knuckle
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The present invention relates to the line traffic control Four wheel independent steering system that a kind of McPherson suspension knuckle is provided with steering motor, the system includes vehicle frame, wheel, suspension and steering motor, described suspension includes knuckle, described knuckle is connect with steering motor output shaft by being bonded, and control knuckle to be rotated around electrical axis are turned to by steering motor, it is that corresponding realization is rotated to the wheel that knuckle is connected, described suspension is additionally provided with pull bar, Suspension movement is oriented to.Compared with prior art, the present invention has the advantages that level of integrated system is high, divertical motion driving-chain is short, increases wheel limit steering angle and preferable to aligning torque bearing capacity.
Description
Technical field
The present invention relates to a kind of line traffic control Four wheel independent steering system, it is provided with more particularly, to a kind of McPherson suspension knuckle
The line traffic control Four wheel independent steering system of steering motor.
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, original mechanical connection is replaced with control signal,
The go to action of interior foreign steamer is independently controlled by respective control signal.Line traffic control four-wheel independent steering technology is allowed in structure simultaneously
In the case of corner can reach ± 90 °, vehicle is realized the various modes such as pivot stud, crab row.
But existing line traffic control independent steering technology is often using the simple suspension form such as candle type suspension, it is difficult to realizing solely
The exercise performance of suspension is taken into account while vertical steering.
The content of the invention
The purpose of the present invention is exactly to provide a kind of McPherson suspension for the defect for overcoming above-mentioned prior art to exist to turn
The line traffic control Four wheel independent steering system of steering motor is provided with to section.
The purpose of the present invention can be achieved through the following technical solutions：
A kind of McPherson suspension knuckle is provided with the line traffic control Four wheel independent steering system of steering motor, and the system includes car
Frame, wheel, suspension and steering motor, described suspension include knuckle, and described knuckle is connected with steering motor, described
Knuckle is rotated by the control of steering motor around electrical axis are turned to, and is that corresponding realization is rotated to the wheel that knuckle is connected, institute
The system stated is additionally provided with the pull bar being flexibly connected with suspension, and Suspension movement is oriented to.
Described steering motor includes steering motor housing and steering motor output shaft, the steering motor housing and steering
Motor output shaft constitutes first and rotates secondary.
Described steering motor output shaft connects knuckle by being bonded.
The suspension is provided with lower swing arm, and the lower swing arm is connected by the first ball pivot near wheel one end with knuckle, far
Pair is rotated from wheel one end by second to be connected with vehicle frame.
The center that the steering motor output axis passes through the first ball pivot.
Described suspension is provided with knuckle joint part, and described knuckle joint part is connected by thrust bearing with knuckle,
Described elbow-type connector is connected with the housing of steering motor, and described elbow-type connector is connected with pull bar by the second ball pivot.
The system is additionally provided with damper, and described damper one end is connected with knuckle joint part, and the other end passes through with vehicle frame
3rd ball pivot is connected.
Described pull bar is hinged with vehicle frame by the 4th ball pivot or Hooke.
The system is additionally provided with decelerator and is supported the use with steering motor.
Described decelerator uses worm gear structure.
Compared with prior art, the present invention has advantages below：
(1) advantage of macpherson suspension and wire-controlled steering system is combined, good suspension kinematical characteristic is realized
While by turn to servomotor assembly be arranged in wheel side, realize the integration of suspension and steering, integrated level is high, distribution
Formula turns to the space that arrangement also saves front deck；
(2) turn to servomotor assembly and be arranged in wheel side, the driving-chain of divertical motion is short, and steering response is more sensitive, effect
Rate is higher.
(3) traditional steering gear connection is eliminated, the interference that steering gear connection and suspension are oriented between leverage is thoroughly avoided, and
The limit steering angle of wheel can be increased by reasonable Arrangement.
(4) remain steering linkage to be oriented to Suspension movement, carrying of the suspension system to side force and aligning torque
Ability is preferable.
Brief description of the drawings
Fig. 1 is present system structural scheme of mechanism；
Fig. 2 is present system schematic device；
In figure：
1st, elastic caoutchouc hinged-support 2, elastic caoutchouc hinge assembly 3, upper spring support 4, dust cover 5, spring 6, damping
Device 7, lower spring bearing 8, damper undersetting 9, lower swing arm 10, lower swing arm ball pivot 11, knuckle 12, hub spindle pressure-bearing
Tight nut 13, brake disc 14, wheel hub (part) 15, knuckle joint part 16, steering servomotor assembly 17, pull bar.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is a part of embodiment of the invention, rather than whole embodiments.Based on this hair
Embodiment in bright, the every other reality that those of ordinary skill in the art are obtained on the premise of creative work is not made
Example is applied, should all belong to the scope of protection of the invention.
Embodiment
The present invention proposes the line traffic control Four wheel independent steering system that a kind of McPherson suspension knuckle is provided with steering motor, i.e.,
Servomotor assembly (servomotor may match decelerator and use, similarly hereinafter) is turned to be arranged on McPherson suspension knuckle and band
There is the line traffic control Four wheel independent steering system of pull bar.The system includes vehicle frame, wheel, suspension and turns to servomotor, and described is outstanding
Frame is provided with knuckle, and described knuckle is connected with servomotor is turned to, and by turn to Serve Motor Control knuckle around
Steering motor axis is rotated, and is that corresponding realization is rotated to the wheel that knuckle is connected, and realizes wide-angle line traffic control independent steering, described
Suspension be additionally provided with pull bar, Suspension movement is oriented to, system by turn to servomotor be integrated on McPherson suspension, it is integrated
Degree is high, and unsprung mass is smaller, and rotary electric machine is near wheel side, and driving-chain is short.
System is specifically configured to：
As shown in Fig. 2 the line traffic control four-wheel that this steering servomotor assembly is arranged on McPherson suspension knuckle independently turns
It is main by elastic caoutchouc hinged-support 1, elastic caoutchouc hinge assembly 2, upper spring support 3, dust cover 4, spring 5, damper to system
6th, lower spring bearing 7, damper undersetting 8, lower swing arm 9, lower swing arm ball pivot 10, knuckle 11, hub bearing clamp nut 12,
Brake disc 13, wheel hub (part) 14, knuckle joint part 15, steering servomotor assembly 16, pull bar 17 are constituted.
Described suspension is provided with knuckle joint part 15, and knuckle joint part 15 is consolidated with the housing for turning to servomotor assembly
Even, knuckle joint part 15 is connected with damper, and thrust bearing is built-in with the middle of knuckle joint part, and thrust bearing is total with servomotor
Into output axis it is identical, knuckle joint part 15 by thrust bearing connect knuckle 11.Additionally, turning to servomotor assembly
Output shaft can drive knuckle 11 to be rotated around electrical axis i.e. main pin axis by key connecting knuckle 11.Knuckle 11 with
Lower swing arm 9 is connected near wheel side by lower swing arm ball pivot, is connected with vehicle frame (typically using rubber by rotating pair near frame sides
Glue bushing).
Described steering servomotor can match composition servomotor assembly with decelerator.
Described servomotor assembly output shaft is constituted with motor housing and rotates secondary, and servomotor assembly output axis passes through
Lower swing arm ball pivot center, the torque (or after amplifying through reductor) of servomotor assembly output is exported onto knuckle so that car
Wheel can rotate so as to realize line traffic control four-wheel independent steering along stub.It is original due to carrying out divertical motion control by motor
Track rod medial extremity and vehicle body be connected, outside by ball pivot or Hooke's hinge (using Hooke's hinge to avoid isolated degree of freedom)
End is connected by ball pivot with knuckle joint part, the pull bar is played a part of Suspension movement and is oriented to.
Such as Fig. 2, the electric machine casing turned in servomotor assembly 16 is connected firmly on knuckle joint part 15, knuckle joint part 15
Connected firmly with damper undersetting 8 by bolt.Spring damper assembly is connected by the elastic rubber with Spherical Joint Motion characteristic
Pick up frame.Damper undersetting 8 is welded as a whole with lower spring bearing 7, and spring 5 is installed on upper spring support 3 and lower spring branch
Between seat 7, upper spring support 3 is cut with scissors assembly 2 (including bearing) and is connected with elastic caoutchouc hinged-support 1 by elastic caoutchouc, upper spring
Movement relation between bearing 3 and elastic caoutchouc hinged-support 1 can be equivalent to ball pivot.Elastic caoutchouc hinged-support 1 passes through bolt and car
Body (or subframe) is connected.The output shaft of servomotor assembly 16 is turned to by key (or other similar types) and knuckle 11
Connection, can transmitting torque.Knuckle joint part 15 is connected with knuckle 11 by thrust bearing (not shown), can mutually be rotated.When
When turning to servomotor 16 output torque of assembly, drive hub 14 so that wheel deflects so as to realize turning to along stub.
Consistent with general McPherson suspension, the outside of lower swing arm 9 is connected by lower swing arm ball pivot 10 with knuckle 11, and inner side is then by rotating
Pair is connected (general hinge by rubber is realized) with vehicle frame.The two ends of pull bar 17 are respectively by ball pivot and knuckle joint part 15 and vehicle body
Connection, to avoid isolated degree of freedom, it is ball pivot that can also use one end, and the other end is the arrangement of Hooke's hinge.
The housing for turning to servomotor assembly is connected firmly on knuckle joint part, and knuckle joint part is consolidated with shock absorber undersetting
Connection, knuckle is connected with knuckle joint part by thrust bearing, and spring damper is Spherical Joint Motion relation with vehicle body or subframe.
When servomotor is turned to reductor assembly output torque, knuckle is driven so that wheel deflects so as to real along stub
Turn now to.
The structural scheme of mechanism of the organization plan as shown in figure 1, the program is on the basis of traditional McPherson suspension structure,
Rotation pair of the axis by lower ball pivot center, and rotation pair are added on former knuckle by controllable steering motor
(or comprising decelerator) is controlled.Structure motor when not turning to does not rotate, its structure and McPherson suspension structure
It is identical.
The reductor turned in servomotor assembly can be using the reductor of turbine and worm or other forms, when returning just
When torque is larger, turns to when servomotor cannot keep wheel direction stabilization with reductor assembly itself and be proposed with turbine and worm
Or other can realize the deceleration transmission form of self-locking.
The decelerator (not shown) turned in servomotor assembly 16 can be using the transmission such as turbine and worm, planetary gear
Form, turbine worm reducer is proposed with when aligning torque is larger and realizes self-locking, and decelerator concrete form is not limited, can
Using with auto-lock function.
In the present invention, it is to be close to existing parts surface with the arrangement thinking of reductor assembly wire etc to turn to servomotor
Arrange and good insulation, corresponding controller can flexible arrangement on vehicle frame or integrated with motor, specifically no longer describe in detail.
The above, specific embodiment only of the invention, but protection scope of the present invention is not limited thereto, and it is any
Those familiar with the art the invention discloses technical scope in, various equivalent modifications can be readily occurred in or replaced
Change, these modifications or replacement should all be included within the scope of the present invention.Therefore, protection scope of the present invention should be with right
It is required that protection domain be defined.
Claims (10)
1. a kind of McPherson suspension knuckle is provided with the line traffic control Four wheel independent steering system of steering motor, the system include vehicle frame,
Wheel, suspension and steering motor, described suspension include knuckle, it is characterised in that described knuckle and steering motor phase
Even, described knuckle is rotated by the control of steering motor around electrical axis are turned to, and the wheel being connected to knuckle is corresponding reality
Now rotate, described system is additionally provided with the pull bar being flexibly connected with suspension, and Suspension movement is oriented to.
2. a kind of McPherson suspension knuckle according to claim 1 is provided with the line traffic control four-wheel independent steering system of steering motor
System, it is characterised in that described steering motor includes steering motor housing and steering motor output shaft, the steering motor housing
First is constituted with steering motor output shaft rotate secondary.
3. a kind of McPherson suspension knuckle according to claim 2 is provided with the line traffic control four-wheel independent steering system of steering motor
System, it is characterised in that described steering motor output shaft connects knuckle by being bonded.
4. a kind of McPherson suspension knuckle according to claim 2 is provided with the line traffic control four-wheel independent steering system of steering motor
System, it is characterised in that the suspension is provided with lower swing arm, the lower swing arm is connected by the first ball pivot near wheel one end with knuckle
Connect, rotate pair by second away from wheel one end is connected with vehicle frame.
5. a kind of McPherson suspension knuckle according to claim 4 is provided with the line traffic control four-wheel independent steering system of steering motor
System, it is characterised in that the center that the steering motor output axis passes through the first ball pivot.
6. a kind of McPherson suspension knuckle according to claim 1 is provided with the line traffic control four-wheel independent steering system of steering motor
System, it is characterised in that described suspension is provided with knuckle joint part, described knuckle joint part passes through thrust bearing and knuckle
Connection, described elbow-type connector is connected with the housing of steering motor, and described elbow-type connector passes through the second ball pivot with pull bar
Connection.
7. a kind of McPherson suspension knuckle according to claim 6 is provided with the line traffic control four-wheel independent steering system of steering motor
System, it is characterised in that the system is additionally provided with damper, described damper one end is connected with knuckle joint part, the other end and car
Frame is connected by the 3rd ball pivot.
8. a kind of McPherson suspension knuckle according to claim 1 is provided with the line traffic control four-wheel independent steering system of steering motor
System, it is characterised in that described pull bar is hinged with vehicle frame by the 4th ball pivot or Hooke.
9. a kind of McPherson suspension knuckle according to claim 1 is provided with the line traffic control four-wheel independent steering system of steering motor
System, it is characterised in that the system is additionally provided with decelerator and is supported the use with steering motor.
10. a kind of McPherson suspension knuckle according to claim 9 is provided with the line traffic control four-wheel independent steering of steering motor
System, it is characterised in that described decelerator uses worm gear structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611205367.2A CN106741146A (en) | 2016-12-23 | 2016-12-23 | McPherson suspension knuckle is provided with the line traffic control Four wheel independent steering system of steering motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611205367.2A CN106741146A (en) | 2016-12-23 | 2016-12-23 | McPherson suspension knuckle is provided with the line traffic control Four wheel independent steering system of steering motor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106741146A true CN106741146A (en) | 2017-05-31 |
Family
ID=58919143
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611205367.2A Pending CN106741146A (en) | 2016-12-23 | 2016-12-23 | McPherson suspension knuckle is provided with the line traffic control Four wheel independent steering system of steering motor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106741146A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109050660A (en) * | 2018-09-05 | 2018-12-21 | 中信戴卡股份有限公司 | A kind of knuckle of automobile steering roller, transfer and automobile |
| CN109130753A (en) * | 2018-10-19 | 2019-01-04 | 山东金惠新达智能制造科技有限公司 | A kind of built-in McPherson suspended structure turned to |
| CN110553551A (en) * | 2019-10-08 | 2019-12-10 | 福建（泉州）哈工大工程技术研究院 | General intelligent target vehicle for training light arms combat |
| CN111094114A (en) * | 2017-09-27 | 2020-05-01 | Ntn株式会社 | Wheel hub unit with steering function and vehicle with same |
| CN111746631A (en) * | 2020-07-02 | 2020-10-09 | 南京航空航天大学 | Wire-controlled four-wheel independent steering system and control method thereof |
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| CN201670260U (en) * | 2010-05-07 | 2010-12-15 | 深圳职业技术学院 | Independent steering device and independent suspension system |
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| 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 |
| 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 |
| 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 |
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| US20060266574A1 (en) * | 2002-08-14 | 2006-11-30 | Volvo Lastvagnar Ab | Vehicle, method and steering system for vehicle |
| CN201670260U (en) * | 2010-05-07 | 2010-12-15 | 深圳职业技术学院 | Independent steering device and independent suspension system |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111094114A (en) * | 2017-09-27 | 2020-05-01 | Ntn株式会社 | Wheel hub unit with steering function and vehicle with same |
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| CN109130753A (en) * | 2018-10-19 | 2019-01-04 | 山东金惠新达智能制造科技有限公司 | A kind of built-in McPherson suspended structure turned to |
| CN110553551A (en) * | 2019-10-08 | 2019-12-10 | 福建（泉州）哈工大工程技术研究院 | General intelligent target vehicle for training light arms combat |
| CN111746631A (en) * | 2020-07-02 | 2020-10-09 | 南京航空航天大学 | Wire-controlled four-wheel independent steering system and control method thereof |
| CN111746631B (en) * | 2020-07-02 | 2022-05-03 | 南京航空航天大学 | Wire-controlled four-wheel independent steering system and control method thereof |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170531 |
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| RJ01 | Rejection of invention patent application after publication |