CN106864252B - Steering and driving integrated wheel electric driving system and vehicle - Google Patents
Steering and driving integrated wheel electric driving system and vehicle Download PDFInfo
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- CN106864252B CN106864252B CN201710247976.2A CN201710247976A CN106864252B CN 106864252 B CN106864252 B CN 106864252B CN 201710247976 A CN201710247976 A CN 201710247976A CN 106864252 B CN106864252 B CN 106864252B
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- 230000009977 dual effect Effects 0.000 claims abstract description 14
- 230000009467 reduction Effects 0.000 claims description 13
- 238000004804 winding Methods 0.000 claims description 8
- 230000004308 accommodation Effects 0.000 claims description 2
- 238000001816 cooling Methods 0.000 claims description 2
- 238000005461 lubrication Methods 0.000 claims description 2
- 230000007246 mechanism Effects 0.000 description 29
- 230000033001 locomotion Effects 0.000 description 13
- 230000005540 biological transmission Effects 0.000 description 10
- 238000005516 engineering process Methods 0.000 description 6
- 239000003638 chemical reducing agent Substances 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000004134 energy conservation Methods 0.000 description 3
- 230000010354 integration Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 241001312741 Gekko swinhonis Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000009347 mechanical transmission Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
- B60K17/06—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing of change-speed gearing
- B60K17/08—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing of change-speed gearing of mechanical type
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- 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
- B62D5/0403—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by constructional features, e.g. common housing for motor and gear box
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K2007/003—Disposition of motor in, or adjacent to, traction wheel with two or more motors driving a single wheel
Abstract
The invention discloses a steering and driving integrated wheel-side electric driving system, which comprises: a dual rotor motor including an outer rotor and an inner rotor; the ball screw structure comprises balls, a screw and a nut, wherein the balls, the screw and the nut are matched with each other in a screw pair, one end of the screw is connected with an output shaft of the inner rotor and can rotate under the driving of the inner rotor so as to enable the nut to axially move along the screw; the overhanging end of the nut is hinged with a steering tie rod; the invention discloses a vehicle with an integrated steering and driving wheel-side electric driving system, which comprises an even number of integrated steering and driving wheel-side electric driving systems.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to a steering and driving integrated wheel-side electric driving system and a vehicle with the steering and driving integrated wheel-side electric driving system.
Background
The traditional centralized driving type pure electric automobile is characterized in that a power source of the whole automobile is replaced by an internal combustion engine to be a motor, and a power assembly consisting of a single motor and a driving axle or a power assembly consisting of a single motor, a speed changer and a driving axle (comprising a main speed reducer, a differential mechanism, a half axle and the like) is adopted to drive the automobile to run, so that the number of driving parts is large, the driving efficiency is low, and the occupied space is large.
The hub driving or the wheel rim driving is used as a distributed driving mode, and the structure is characterized in that a driving motor is directly arranged in a driving wheel or near the driving wheel, and the motor directly drives the wheel or through a speed reducing mechanism. Compared with the traditional automobile, the automobile omits mechanical transmission components such as a differential mechanism, a speed changer, a universal joint and the like, has high transmission efficiency, compact structure and high utilization rate of automobile body space, and simultaneously, each wheel edge driving wheel can be independently controlled, so that complex dynamic performance and stability control can be conveniently realized. However, in the case of a hub drive or a rim drive in which the drive motor is disposed on the wheel carrier, the ride comfort of the vehicle is poor due to the increased unsprung mass of the drive motor. Therefore, the problem can be effectively solved at the present stage by adopting an independent driving mode of the driving motor wheel edge arranged on the frame.
In addition, the rear wheel steering technology has been used in some vehicle types at present because of its purpose of reducing the turning radius and improving the steering stability. Rear wheel steering techniques are generally divided into three types: a rear wheel stress follow-up steering technology for steering, which is represented by Gekko Swinhonis and is realized by utilizing a suspension guide rod system bushing to slightly deform under the action of lateral force; another is a mechanical steering trapezoid rear wheel engine operation steering technology of a steering trapezoid which is represented by a multi-wheel steering off-road vehicle and transmits steering operation movement of a front wheel to a rear wheel after the steering operation movement of the front wheel is reduced in amplitude by a series of steering transmission mechanisms; finally, the rear wheel electro-active steering technology is realized by using a steering motor additionally arranged on the rear wheel to drag a steering tie rod, which is represented by a BMW 7. Once the front two types of the automobile are designed, the rear wheel steering law cannot be adjusted, and different requirements on the rear wheel auxiliary steering law when the automobile runs at high and low speeds cannot be met. And then, an additional set of electromechanical system is needed to complete the steering action of the rear wheel in the turbine electric active steering technology, so that the defects of complex structure, high cost, low reliability and the like are caused, and the application of the rear wheel active steering technology is limited.
Disclosure of Invention
The invention provides a steering and driving integrated wheel-side electric driving system, which integrates a steering system and wheel-side driving by using a double-rotor motor and a ball screw mechanism, and has greatly simplified structure.
The technical scheme provided by the invention is as follows:
a steering and drive integrated wheel-side electric drive system comprising:
a dual rotor motor including an outer rotor and an inner rotor;
the ball screw structure comprises balls, a screw and a nut, wherein the balls, the screw and the nut are matched with each other in a screw pair, one end of the screw is connected with an output shaft of the inner rotor and can rotate under the driving of the inner rotor so as to enable the nut to axially move along the screw; the overhanging end of the nut is hinged with a steering tie rod;
and the input end of the reduction gear set is connected with the output shaft of the outer rotor, and the output end of the reduction gear set is connected with the driving half shaft.
Preferably, the dual rotor motor includes:
a housing having an accommodation space therein for arranging an outer rotor and an inner rotor supported on an inner end surface of the outer rotor by a bearing;
permanent magnets provided on inner and outer side surfaces of the outer rotor;
a stator fixed on an inner surface of the housing;
an exciting winding fixed to the stator, through which current is applied to generate a magnetic field;
an armature winding mounted on the inner rotor;
wherein, the inner rotor and the outer rotor can realize independent free rotation.
Preferably, the outer rotor comprises a main body and an end cover which are mutually matched in a jaw manner, the inner rotor is supported and nested in a containing space formed by the main body and the end cover through front and rear bearings, and an output end of the inner rotor penetrates through the containing space to be connected with an output shaft of the inner rotor.
Preferably, the reduction gear set includes:
an output shaft hinged with the drive half shaft;
an input gear fixed to the outer rotor output shaft;
and the output gear is sleeved on the output shaft and meshed with the input gear.
Preferably, the input gear includes a circular ring flange extending along an axial projection, the circular ring flange being rotatably supported on the dual rotor motor housing.
Preferably, the outer cylindrical surface of the ball screw is provided with a semicircular arc-shaped spiral groove, the inner hole of the nut is provided with a spiral groove identical to the ball screw, and the ball screw and the nut are matched to form a ball rolling path.
Preferably, the wheel rim driving device further comprises a limiting end cover, wherein the limiting end cover is a flange-type cylinder and is fixedly arranged at one end of the wheel rim driving device shell, and the cylinder part of the limiting end cover is provided with a rectangular long groove.
Preferably, the nut has a rectangular lug on the outside, the rectangular lug being slidable along the rectangular slot and limiting rotation of the nut.
A steering and drive integrated wheel-side electric drive system comprising:
the first ball screw structure comprises a first ball, a first screw and a first nut, wherein the first ball, the first screw and the first nut are matched with each other in a screw pair, one end of the first screw is connected with an output shaft of the first inner rotor and can rotate under the driving of the first inner rotor so as to enable the first nut to axially move along the screw; the overhanging end of the first nut is hinged with a steering tie rod;
the second ball screw structure comprises a second ball, a second screw and a second nut which are matched with each other in a screw pair, one end of the second screw is connected with an output shaft of the second inner rotor and can rotate under the drive of the second inner rotor so as to enable the second nut to axially move along the screw; the overhanging end of the second nut is hinged with a steering tie rod;
the input end of the first reduction gear set is connected with the output shaft of the first outer rotor, and the output end of the first reduction gear set is connected with the left driving half shaft;
and the second reduction gear set is provided with an input end connected with the output shaft of the second outer rotor, and an output end connected with the right driving half shaft.
A vehicle having an integrated steering and drive wheel side electric drive system includes an even number of integrated steering and drive wheel side electric drive systems that drive wheels at corresponding locations on both sides, respectively.
The beneficial effects of the invention are that
1. The system has good integration. The steering and driving integrated wheel side electric driving system provided by the invention realizes the driving function of the traditional wheel side driving system and simultaneously realizes the integration of the steering function by using the double-rotor motor and the ball screw mechanism.
2. Saving space and low cost. Compared with the traditional mechanical rear wheel steering system, the steering and driving integrated wheel-side electric driving system omits a series of complicated steering transmission mechanisms; compared with a rear turbine electric active steering system, the system omits an execution motor, greatly simplifies the system structure and saves the available space and cost of the whole vehicle.
3. The arrangement modes are various. The steering and driving integrated wheel side electric driving system can realize the integration of independent steering and independent driving of each wheel with single shaft, double shafts or multiple shafts according to the arrangement space of the whole vehicle and the selected driving mode.
4. The operability is good. The steering and driving integrated wheel electric driving system is not mechanically connected with the steering wheel, and can flexibly adjust the angle transmission ratio of the steering system according to the factors such as the speed of the vehicle, the state of the vehicle and the like, so that the contradiction between light and flexible of the steering system is fundamentally solved, and the steering performance of the automobile is greatly improved.
5. Can cooperate with differential power steering to realize steering energy conservation. The steering and driving integrated wheel-side electric driving system integrates the wheel-side independent driving and steering system, so that the differential power-assisted steering moment can be indirectly generated by utilizing the difference value of the driving forces of the left wheel and the right wheel, the output power of the inner rotor of the double-rotor motor for steering is reduced, and the steering energy conservation is realized.
Drawings
Fig. 1 is a schematic diagram illustrating a top view structure of a steering and driving integrated wheel-side electric driving system according to the present invention.
Fig. 2 is a full cross-sectional view of a ball screw mechanism of a steering and driving integrated wheel-side electric drive system according to the present invention.
Fig. 3 is an isometric view of a ball screw mechanism screw of a steering and driving integrated wheel-side electric drive system according to the present invention.
Fig. 4 is an isometric view of a ball screw mechanism nut of a steering and driving integrated wheel side electric drive system according to the present invention.
Fig. 5 is an exploded isometric view of an outer rotor of a dual rotor motor of a steering and driving integrated wheel-side electric drive system according to the present invention.
Fig. 6 is an isometric view of an input gear of a steering and drive integrated wheel side electric drive system according to the present invention.
Fig. 7 is an isometric view of a limit end cap of a steering and drive integrated wheel-side electric drive system according to the present invention.
Detailed Description
The present invention is described in further detail below with reference to the drawings to enable those skilled in the art to practice the invention by referring to the description.
As shown in fig. 1, the steering and driving integrated wheel side electric driving system according to the present invention includes: the dual rotor motor 100, the ball screw mechanism 200, the tie rod 300, the knuckle 400, the wheel 500, the inner universal joint 411, the inner half shaft 410, the outer universal joint 421, the outer half shaft 420, the limit end cap 610 and the wheel side drive housing 600.
The dual rotor motor 100 includes an inner rotor 110, an outer rotor 120, permanent magnets 130, armature windings 140, a stator 150, a dual rotor motor housing 160, and stator field windings 180. The inner rotor 110 is hollow inside the outer rotor 120. An armature winding 140 is mounted on the inner rotor 110, an external spline is machined at the output shaft end of the inner rotor 110, a positioning shaft shoulder is machined at the root of the output shaft end and used for mounting an upper supporting bearing of the inner rotor 110, a shaft shoulder is machined at the other end of the inner rotor and used for mounting a lower supporting bearing of the inner rotor 110, and the upper supporting bearing and the lower supporting bearing of the inner rotor 110 are supported on the inner end face of the outer rotor. Permanent magnets 130 are respectively attached to inner and outer surfaces of the outer rotor 120, and a stator 150 is fixed to a double-rotor motor housing 160 while stator field windings 180 are mounted on the stator 150. Both inner rotor 110 and outer rotor 120 may be individually rotated and individually controlled.
As shown in fig. 5, to match the installation of the inner rotor 110 of the dual-rotor motor, the outer rotor 120 of the dual-rotor motor is designed as a split structure, that is, it can be divided into a main body 121 and an end cover 122, and the main body 121 and the end cover 122 are in jaw-type matching. Permanent magnets 130 are adhered to the inner and outer surfaces of the outer rotor body 121 of the dual-rotor motor. The center of the front end of the outer rotor body 121 of the dual-rotor motor is a stepped through hole formed by a bearing hole with a slightly larger inner diameter and a light hole with a smaller inner diameter, wherein the bearing hole is used for installing an upper supporting bearing of the inner rotor 110 of the dual-rotor motor, and the light hole is used for passing through the output shaft end of the inner rotor 110 of the dual-rotor motor and does not generate motion interference on the output shaft end of the inner rotor 110. The inner side of the bottom of the outer rotor end cover 122 of the dual-rotor motor is provided with a bearing counter bore for installing the lower support bearing of the inner rotor 110 of the dual-rotor motor, and simultaneously, the outer center of the outer rotor end cover 122 is provided with a stepped shaft for installing the lower support bearing of the outer rotor 120 of the dual-rotor motor. Meanwhile, an external spline is machined at the output shaft end of the outer rotor main body 121 of the dual-rotor motor and is used for being in spline connection with the input gear 710, and a shaft shoulder is machined at the root of the output shaft end of the outer rotor main body 121 and is used for installing a supporting bearing on the outer rotor 120 of the dual-rotor motor. Upper and lower support bearings of the outer rotor 120 are supported on the dual rotor motor housing. Meanwhile, in order to ensure reliable centering when the outer rotor main body 121 of the dual-rotor motor and the outer rotor end cover 122 of the dual-rotor motor are matched, six arc trapezoid groove teeth are processed at the matched position of the outer rotor main body 121 of the dual-rotor motor and the outer rotor end cover 122, the size of the groove teeth at the radial center-near end is smaller than that of the center-far end, and circular arc small grooves are processed on the tooth heel plane of the groove teeth; six arc trapezoid raised teeth are machined at the positions corresponding to the six arc trapezoid grooves of the outer rotor end cover 122 of the outer rotor of the double-rotor motor and the main body 121 of the outer rotor of the double-rotor motor, the size of the raised teeth at the radial center near end is smaller than that of the center far end, annular arc-shaped protrusions corresponding to small grooves of the tooth heels of the arc trapezoid grooves of the main body are machined on the tooth top plane of the arc trapezoid raised teeth, the basic sizes of the arc trapezoid protrusions and the arc trapezoid grooves are the same, and the arc trapezoid protrusions and the arc trapezoid grooves belong to small clearance fit. When the outer rotor body 121 and the outer rotor end cover 122 of the dual-rotor motor are combined into the outer rotor 120 of the dual-rotor motor, the arc-shaped trapezoidal groove teeth of the body 121 are matched with the V-shaped side walls of the arc-shaped trapezoidal protruding teeth of the corresponding end cover 122, so that the centering effect of the two is achieved, and the small grooves of the tooth roots and the arc-shaped protrusions of the tooth centering ring are utilized for corresponding clearance fit in pairs, so that the auxiliary radial limiting and axial positioning effects are achieved.
As shown in fig. 2 to 4, the ball screw mechanism 200 is composed of balls 210, a screw 220, and a nut 230, and the ball screw mechanism 200 functions to convert the rotational motion of the inner rotor 110 of the dual rotor motor into the linear motion of the nut by the special function of the ball screw mechanism. Wherein, the outer cylindrical surface of the screw rod 220 is processed with a spiral groove similar to a semicircle, and at the same time, the end surface of the input end of the screw rod 220 is processed with an inner spline groove for being connected with the output end of the inner rotor 110 of the double-rotor motor through a spline. The ball screw mechanism nut 230 has a cylindrical structure, and an approximately semicircular arc-shaped spiral groove which corresponds to the screw 220 is processed in the inner hole of the nut 230. The approximately semicircular arc-shaped spiral groove on the outer cylindrical surface of the screw rod 220 is matched with the approximately semicircular arc-shaped spiral groove on the inner hole wall surface of the nut 230 to form a rolling path of the ball 210. The bottommost end of the inner hole of the nut 230 is provided with an inner cylindrical surface with a smaller diameter, and the diameter-changing part is used as a limiting surface for the relative position of the screw rod 220 and the nut. In addition, as shown in fig. 2, a small axial vent hole is formed at the lowest edge of the inner hole of the nut 230, so as to avoid difficulty in movement caused by air resistance generated when the screw rod 220 and the nut 230 relatively move. Meanwhile, the nut 230 is also provided with a circulation channel of balls, the inlet and the outlet of the channel are respectively at the position close to the starting point and the end point of the semicircular spiral groove, and the ball circulation channel enables the balls 210 to circularly roll in the track, so that the rotary motion of the screw 220 is converted into the linear motion of the nut 230 along the screw 220. The outer wall of the nut 230 of the ball screw mechanism is also machined with two rectangular lugs which are matched with rectangular long grooves separated from the cylinder part of the limit end cover 610 to limit the rotation movement of the rectangular lugs. In addition, the length of the rectangular elongated slot of the limit cap 610 limits the maximum axial distance of the nut 230. Meanwhile, the other end of the ball screw mechanism nut 230, which is not perforated, is processed with a rectangular block flange, and simultaneously the center of the rectangular block flange is processed with a threaded through hole for installing a ball pin for installing and connecting the ball pin of the tie rod 300.
In another embodiment, a speed reducer of the steering and driving integrated wheel-side electric drive system of the present invention is used for reducing and increasing torque output by a dual-rotor motor and translating an output axis to a wheel axle. The number of stages and the transmission form of the speed reducer can be adjusted according to the matching relation and the arrangement relation of the double-rotor motor and the whole vehicle. Namely, multi-stage cylindrical gear transmission or single-stage belt transmission or single-stage chain transmission can be adopted. It should be noted that a form of the decelerator different from the present example is adopted, and a new structure different from the present invention is not constituted.
As shown in fig. 1, the speed reducer includes an input gear 710, an output gear 720, and an output shaft 730, taking a single stage cylindrical helical gear transmission as an example. The input gear 710, the output gear 720, and the output shaft 730 are disposed within the wheel drive housing 600. The input gear 710 and the output gear 720 are externally meshed, and the output gear 720 and the output shaft 730 are spline-connected.
As shown in fig. 6, the input gear 710 is a common cylindrical helical gear similar to a hub, and a through hole formed by a segment of spline hole and a smooth hole penetrates through the whole gear and the center of the hub, wherein the inner diameter of the smooth hole is larger than that of the spline hole. The input gear 710 is connected with the output shaft of the outer rotor 120 of the dual-rotor motor through a spline, so that power transmission is realized. One end of the input gear 710 is limited by a shaft shoulder of a bearing machined on the output shaft of the outer rotor 120 of the dual-rotor motor, and the other end of the input gear is limited by a snap ring 620.
The output gear 720 is a common cylindrical helical gear, the number of teeth of the output gear 720 is greater than that of the input gear 710, and speed reduction and torque increase can be realized. The output gear 720 is splined to the output shaft 730.
As shown in fig. 7, the limiting end cover 610 is a flange-type circular cylinder, and the flange surface at one end of the limiting end cover 610 is provided with 6 through holes on the circumference for fixing the limiting end cover 610 on the wheel driving device housing 600 by bolts; the hub portion of which extends into the wheel drive housing 600. The center of the limit end cap 610 is a circular through hole, the outer cylindrical surface of the nut 230 of the ball screw mechanism passes through the hole, two rectangular grooves are formed in the other end of the limit end cap 610 from the head extension to the flange end surface, the two rectangular grooves are used for being matched with two rectangular lugs on the outer wall of the nut 230 of the ball screw mechanism to limit the rotation of the nut 230, and the length of the rectangular grooves is used for limiting the maximum axial movement of the nut 230. Referring to FIG. 1, the inner 411 and outer 421 universal joints are all constant velocity universal joints. The output end of the output shaft 730 is connected to the inner end of the inner axle shaft 410 by an inner universal joint 411, and the outer end of the inner axle shaft 410 is connected to the inner end of the outer axle shaft 420 by an outer universal joint 421.
As shown in fig. 1, the hub driving device housing 600 has a double-rotor motor 100 and a decelerator installed therein. The wheel side drive housing 600 has the function of providing support and gear lubrication for the input gear 710 and the output gear 720 and the output shaft 730, while the wheel side drive housing 600 secures the dual rotor motor 100 and provides a cavity for cooling of the dual rotor motor. Meanwhile, the wheel side drive housing 600 is arranged on the frame, supported by the suspension, as a sprung mass.
As shown in fig. 1 and 2, the connection relationship of the components is as follows: the rim driving apparatus housing 600 is fixed to the vehicle body, the output shaft end of the outer rotor 120 of the dual rotor motor is tightly coupled with the input gear 710 through a spline, the input gear 710 is engaged with the output gear 720, and the output gear 720 is fixed to the output shaft 730 through a spline pair. The output end of the output shaft 730 is connected with the inner end of the inner half shaft 410 through an inner universal joint 411, the other end of the inner half shaft 410 is connected with the inner end of the outer half shaft 420 through an outer universal joint 421, a flange is processed at the outer end of the outer half shaft 420, uniformly distributed through holes are processed on the flange, meanwhile, through holes corresponding to the flange of the outer half shaft 420 are processed on the hub of the wheel 500, and then the outer half shaft 420 and the hub of the wheel 500 are fixed through bolts and nuts. The output shaft end of the inner rotor 110 of the dual-rotor motor is connected with the screw 220 of the ball screw mechanism through a spline, meanwhile, the output shaft ends of the ball screw mechanism 200 and the inner rotor 110 of the dual-rotor motor pass through the center of the input gear 710 and the center through hole of the output shaft end of the outer rotor 120 of the dual-rotor motor, and meanwhile, the nut 230 of the ball screw mechanism can normally linearly move along the screw 220 of the ball screw mechanism in the center through hole, and the screw 220 of the ball screw mechanism and the output shaft end of the inner rotor 110 of the dual-rotor motor can normally rotate in the center through hole without motion interference. The nut 230 of the ball screw mechanism is connected to one end of the tie rod 300 through a ball hinge, the other end of the tie rod is connected to a knuckle arm of the knuckle 400 through a ball hinge, the knuckle arm and the knuckle 400 are of an integral structure, and the knuckle 400 is supported on the wheel 500 through a hub bearing.
The invention comprises at least two sets of steering and driving integrated wheel-side electric driving systems which respectively drive wheels at two sides to move and steer.
The steering and driving integrated wheel-side electric driving system provided by the invention has the following specific working processes and working principles:
when the steering and driving integrated wheel-side electric driving system is applied to a rear axle of an automobile, the steering and driving integrated wheel-side electric driving system is required to be installed on the left and right sides of the rear axle of the automobile, and the wheel-side electric driving systems at the left and right ends are completely consistent in structure, so that an independent steering and independent driving integrated wheel-side electric driving rear axle is formed; the invention can also be applied to the front wheels when needed, namely the electric drive front axle with the integrated wheel edge of independent steering and independent driving at the moment, for example, for an intelligent electric vehicle without a steering control device; meanwhile, the invention can also be used for four-wheel or multi-shaft driving vehicles, the arrangement forms are flexible and various, and no matter which form is adopted, the steering and driving integrated wheel electric driving system is within the protection scope of the invention. Taking a common automobile with a rear axle left and right wheels assembled with the steering and driving integrated wheel-side electric driving system as an example, an outer rotor 120 of a double-rotor motor in the left wheel-side electric driving system receives a driving moment instruction transmitted by a whole automobile controller, the outer rotor 120 of the double-rotor motor starts to rotate and outputs power to an input gear 710, the power is transmitted to an output shaft after the power is output to the input gear 710 through the speed reduction moment-increasing effect transmitted by the meshing of the input gear 710 and an output gear 720, and the power is transmitted to the wheels 500 through an output shaft 730, an inner universal joint 411, an inner half shaft 410, an outer universal joint 421 and an outer half shaft 420 to drive the wheels to run. When the automobile needs to turn, the inner rotor 110 of the double-rotor motor receives a control command transmitted by the steering system controller, the inner rotor 110 of the double-rotor motor is controlled to rotate, the inner rotor 110 drives the screw 220 of the ball screw mechanism to rotate through a spline, the rotating motion of the screw 220 is converted into the axial linear motion of the nut 230 of the ball screw mechanism through the action of balls in the ball screw mechanism, the nut 230 of the ball screw mechanism moves by pulling the connecting tie rod 300 through a ball hinge, and the tie rod 300 moves by pulling the connecting knuckle 400 through the ball hinge, so that the knuckle rotates around a wheel kingpin. Similarly, the inner rotor of the double-rotor motor in the right wheel electric driving system is controlled to rotate, and the right wheel can be controlled to rotate at the same or different angles, so that the steering function of the rear wheel of the automobile is realized.
A vehicle with an integrated steering and driving wheel-side electric drive system comprises an even number of integrated steering and driving wheel-side electric drive systems, and the integrated steering and driving wheel-side electric drive systems respectively drive wheels at corresponding positions on two sides.
The steering and driving integrated wheel-side electric driving system integrates the wheel-side independent driving and steering system, so that the differential power-assisted steering moment can be indirectly generated by utilizing the difference value of the driving forces of the left wheel and the right wheel, the output power of the inner rotor of the double-rotor motor for steering is reduced, and the steering energy conservation is realized.
Although embodiments of the present invention have been disclosed above, it is not limited to the details and embodiments shown and described, it is well suited to various fields of use for which the invention would be readily apparent to those skilled in the art, and accordingly, the invention is not limited to the specific details and illustrations shown and described herein, without departing from the general concepts defined in the claims and their equivalents.
Claims (6)
1. A steering and drive integrated wheel-side electric drive system, comprising:
the double-rotor motor specifically comprises a motor,
an outer rotor;
an inner rotor;
a housing having an accommodation space therein for arranging an outer rotor and an inner rotor supported on an inner end surface of the outer rotor by a bearing;
permanent magnets provided on inner and outer side surfaces of the outer rotor;
a stator fixed on an inner surface of the housing;
an exciting winding fixed to the stator, through which current is applied to generate a magnetic field;
an armature winding mounted on the inner rotor;
wherein, the inner rotor and the outer rotor can realize independent free rotation;
the ball screw structure comprises balls, a screw and a nut, wherein the balls, the screw and the nut are matched with each other in a screw pair, one end of the screw is connected with an output shaft of the inner rotor and can rotate under the driving of the inner rotor so as to enable the nut to axially move along the screw; the overhanging end of the nut is hinged with a steering tie rod;
the input end of the reduction gear set is connected with the outer rotor output shaft, and the output end of the reduction gear set is connected with the driving half shaft;
the wheel side driving device shell is arranged on the frame, the inside of the wheel side driving device shell is provided with the double-rotor motor and the reduction gear set, so that the fixing and cooling of the double-rotor motor are realized, and the support and lubrication of the reduction gear set are provided;
the limiting end cover is a flange-type cylinder and is fixedly arranged at one end of the wheel side driving device shell, and the cylinder part of the limiting end cover is provided with a rectangular long groove;
the outer side of the nut is provided with a rectangular lug which can slide along the rectangular long groove and limit the rotation of the nut.
2. The integrated steering and driving wheel side electric drive system according to claim 1, wherein the outer rotor comprises a main body and an end cover which are mutually matched in a jaw manner, the inner rotor is supported and nested in a containing space formed by the main body and the end cover through front and rear bearings, and an output end of the inner rotor penetrates from the containing space to be connected with an output shaft of the inner rotor.
3. The integrated steering and drive wheel-side electric drive system of claim 1, wherein the reduction gear set comprises:
an output shaft hinged with the drive half shaft;
an input gear fixed to the outer rotor output shaft;
and the output gear is sleeved on the output shaft and meshed with the input gear.
4. The integrated steering and drive wheel rim electric drive system of claim 3, wherein the input gear includes an annular flange extending along an axial projection, the annular flange rotatably supported on the dual rotor motor housing.
5. The integrated steering and drive wheel hub electric drive system of claim 1, wherein the screw has a semi-circular arc shaped helical groove on the outer cylindrical surface of the screw, the nut has the same helical groove in the inner bore as the screw, and the screw cooperates with the nut to form a ball race.
6. A vehicle having an integrated steering and drive wheel-side electric drive system, comprising an even number of integrated steering and drive wheel-side electric drive systems according to claim 1, said systems driving wheels at corresponding locations on both sides, respectively, enabling independent steering of each wheel and independent driving of each wheel.
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| CN110316246A (en) * | 2019-07-18 | 2019-10-11 | 上海振华重工(集团)股份有限公司 | A kind of straddle carrier electrical servo independent steering system and its control method |
| TWI719703B (en) * | 2019-11-05 | 2021-02-21 | 鄭順通 | Externally mounted electric steering assist system for autonomous vehicles |
| CN113043805A (en) * | 2021-04-23 | 2021-06-29 | 清华大学 | Multi-connecting-rod suspension structure applied to four-wheel independent control electric vehicle |
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