CN108297930B - Steering and suspension system - Google Patents

Steering and suspension system Download PDF

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Publication number
CN108297930B
CN108297930B CN201710027984.6A CN201710027984A CN108297930B CN 108297930 B CN108297930 B CN 108297930B CN 201710027984 A CN201710027984 A CN 201710027984A CN 108297930 B CN108297930 B CN 108297930B
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China
Prior art keywords
steering
wheel
suspension system
machine
mode
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Application number
CN201710027984.6A
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Chinese (zh)
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CN108297930A (en
Inventor
蒋洪波
葛桦楠
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Shanghai Aigao Industrial Co ltd
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Shanghai Aigao Industrial Co ltd
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Priority to CN201710027984.6A priority Critical patent/CN108297930B/en
Publication of CN108297930A publication Critical patent/CN108297930A/en
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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
    • B60G11/00—Resilient suspensions characterised by arrangement, location or kind of springs
    • B60G11/14—Resilient suspensions characterised by arrangement, location or kind of springs having helical, spiral or coil springs only
    • 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
    • B62D7/20—Links, e.g. track rods
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D9/00—Steering deflectable wheels not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2200/00—Indexing codes relating to suspension types
    • B60G2200/10—Independent suspensions
    • B60G2200/14—Independent suspensions with lateral arms
    • 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
    • B60G2204/124—Mounting of coil springs
    • B60G2204/1244—Mounting of coil springs on a suspension arm
    • 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
    • B60G2204/148—Mounting of suspension arms on the unsprung part of the vehicle, e.g. wheel knuckle or rigid axle
    • 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
    • B60G2204/40—Auxiliary suspension parts; Adjustment of suspensions
    • B60G2204/43—Fittings, brackets or knuckles
    • B60G2204/4302—Fittings, brackets or knuckles for fixing suspension arm on the vehicle body or chassis

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Vehicle Body Suspensions (AREA)
  • Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)

Abstract

The invention discloses a steering and suspension system, comprising: the steering device comprises a spring support, a wheel bracket, a steering machine and a wheel steering machine, wherein a first main pin axis is formed by connecting an upper supporting point of the spring support with the center of a lower guide spherical hinge, a second main pin axis is formed by an upper guide element and the lower guide spherical hinge, or a pin shaft axis overlapped with the first main pin axis is used as the second main pin axis, the steering machine is used for driving the spring support to rotate around the first main pin axis, and the wheel steering machine is used for driving the wheel bracket to rotate around the second main pin axis. By adopting the steering and suspension system, wheels are driven to steer by the steering machine when a vehicle runs, and wheels are driven to steer by the wheel-side steering machine when the vehicle is parked, so that the steering performance of the vehicle when the vehicle runs is ensured and the parking process is simplified under the condition of obviously reducing the requirement on a steering control system. In addition, the steering and suspension system of the present invention can be simplified by eliminating the steering engine and used to implement a non-steering rear axle of an automobile.

Description

Steering and suspension system
Technical Field
The invention relates to the field of motor vehicles, in particular to a steering and suspension system, and especially relates to a steering and suspension system of an automobile chassis.
Background
The steering angle range of conventional automobiles is usually + -35 deg., and can reach + -45 deg. for some special purpose vehicles. Obviously, the larger the wheel maximum steering angle, the smaller the vehicle minimum steering radius, and the better the low-speed steering performance (including the parking performance as well). In the prior art, the maximum steering angle of the steering wheel of the 4WD/4WS (namely four-wheel independent drive/four-wheel independent steering) vehicle to the inner side or the outer side can reach 90 degrees, the functions of in-situ steering, fixed-point steering, transverse running and the like are realized, the maneuverability of the vehicle is greatly improved, particularly the parking performance in a narrow space is greatly improved, and the parking process is remarkably simplified.
In the prior art, a four-wheel independent steering system based on a steer-by-wire technology has the following disadvantages: the steer-by-wire technology is not mature, the reliability of the steering-by-wire technology is still to be verified, and the steering-by-wire technology can not be popularized and applied on a large scale on a vehicle without confidence; in addition to the obvious high reliability requirement, the steering-by-wire technology also requires extremely high coordination control of the kinematics and dynamics of the wheels on the left and right sides, which is required to be ensured by normal running of the vehicle, and the low-speed steering is only a very short process in the use of the vehicle, namely, the technical difficulty of a steering system is remarkably improved for realizing higher but not common low-speed steering performance, and the disclosed technical scheme shows attractive unique performance, but the technical difficulty is also remarkable, so that the steering-by-wire technology is difficult to put into practical use in the near term or in the future.
Disclosure of Invention
In order to overcome the disadvantages of the prior art, the present invention aims to provide a steering and suspension system, which ensures the steering performance of a vehicle during running and simplifies the parking process under the condition of significantly reducing the requirements on a steering control system.
In order to achieve the technical purpose, the invention adopts the following technical scheme:
a steering and suspension system comprising: the steering system comprises a spring support column, a pin shaft, a lower guide spherical hinge, a transverse swing arm, a wheel bracket, a first steering knuckle arm, a steering tie rod, a steering machine and a wheel steering machine; wherein,
the lower end of the spring support is fixedly connected with the upper end of the pin shaft, and the lower end of the pin shaft is connected with the yaw arm through the lower guide spherical hinge; the upper supporting point of the spring support column and the connecting line of the center of the lower guide spherical hinge form a first main pin axis; the pin shaft axis of the pin shaft is a second main pin axis, and the second main pin axis is overlapped with the first main pin axis;
the wheel bracket is supported on the pin shaft and can rotate relative to the pin shaft;
the first knuckle arm is fixedly connected to the pin shaft or the spring support column and is connected with the steering machine through the steering tie rod; the steering engine is arranged on the vehicle body and used for driving the spring support to rotate around the axis of the first main pin;
the wheel steering machine is arranged on the pin shaft or the spring support and is used for driving the wheel bracket to rotate around the axis of the second main pin.
According to the steering and suspension system of the invention, the steering machine has a straight running mode and a steering mode; the wheel steering machine is provided with a locking mode and a steering mode; when the vehicle turns in running, the wheel-side steering machine works in a locking mode, the steering machine works in a steering mode, and the steering machine drives the spring support column and the wheel bracket to rotate around the first king pin axis; when the vehicle is parked, the steering engine works in a straight driving mode, the wheel steering engine works in a steering mode, and the wheel steering engine drives the wheel bracket to rotate around the second main pin axis (namely a pin shaft axis).
According to the steering and suspension system of the invention, the wheel-side steering machine works in a locking mode, the steering machine works in a steering mode, and the achievable steering angle range of the wheels is at least +/-35 degrees; the steering machine works in a straight driving mode, the wheel-side steering machine works in a steering mode, and the achievable steering angle range of the wheels is at least 0-90 degrees.
According to the steering and suspension system, the transverse swing arm is 7-shaped, and the transverse length of the transverse swing arm is larger than the radius of the wheel, so that the dynamic characteristics of the vehicle can be improved.
According to the steering and suspension system of the invention, the steering machine can be arranged below or above: the steering machine is arranged below, and the first steering knuckle arm is fixedly connected to the lower end of the pin shaft; or the steering gear is arranged on the upper part, and the first steering knuckle arm is fixedly connected to the middle position of the spring strut.
According to the steering and suspension system of the present invention, the steering machine may be a rack-and-pinion steering machine with steering assistance or a recirculating ball steering machine with steering assistance. The steering assistance of the steering machine can be realized by adopting a hydraulic assistance mode, an electrohydraulic assistance mode or an electric assistance mode so as to overcome the increased steering resistance moment when an in-wheel motor is arranged in the wheel.
According to the steering and suspension system disclosed by the invention, the pin hole is formed in the wheel bracket, the supporting bearing is arranged between the pin hole and the pin shaft, and the axis of the supporting bearing is coincident with the axis of the second main pin (namely the axis of the pin shaft), so that the wheel bracket can rotate on the pin shaft easily.
According to the steering and suspension system, the wheel steering machine comprises a steering motor, a speed reducer, a first connecting rod and a second connecting rod, wherein the output end of the speed reducer is connected with the first connecting rod, and the first connecting rod is hinged with the second connecting rod; the wheel bracket is also provided with a second knuckle arm, and the second knuckle arm is hinged with the second connecting rod; the steering motor drives the wheel bracket to rotate around the second kingpin axis (i.e., a pin axis) through the speed reducer, the first connecting rod, the second connecting rod and the second knuckle arm.
According to the steering and suspension system of the present invention, the decelerator has a self-locking function.
Of course, if a front-wheel-only steered vehicle is constructed, the steering and suspension system described above can be used for the non-steered rear axle of the vehicle with appropriate simplification. The simplified steering and suspension system can be used to implement a non-steering rear axle of the vehicle by simply eliminating the steering engine and attaching the tie rod to the body. The method comprises the following steps:
another steering and suspension system comprising: the steering device comprises a spring support column, a pin shaft, a lower guide spherical hinge, a transverse swing arm, a wheel bracket, a first steering knuckle arm, a steering tie rod and a wheel steering machine; wherein,
the lower end of the spring support is fixedly connected with the upper end of the pin shaft, and the lower end of the pin shaft is connected with the yaw arm through the lower guide spherical hinge; the upper supporting point of the spring support column and the connecting line of the center of the lower guide spherical hinge form a first main pin axis; the pin shaft axis of the pin shaft is a second main pin axis, and the second main pin axis is overlapped with the first main pin axis;
the wheel bracket is supported on the pin shaft and can rotate relative to the pin shaft;
the first knuckle arm is fixedly connected to the pin shaft or the spring support column and is connected with a vehicle body through the transverse tie rod;
the wheel steering machine is arranged on the pin shaft or the spring support and is used for driving the wheel bracket to rotate around the axis of the second main pin.
According to the steering and suspension system, the transverse swing arm is 7-shaped, and the transverse length of the transverse swing arm is larger than the radius of the wheel, so that the dynamic characteristics of the vehicle can be improved.
According to the steering and suspension system disclosed by the invention, the pin hole is formed in the wheel bracket, the supporting bearing is arranged between the pin hole and the pin shaft, and the axis of the supporting bearing is coincident with the axis of the second main pin (namely the axis of the pin shaft), so that the wheel bracket can rotate on the pin shaft easily.
According to the steering and suspension system, the wheel steering machine comprises a steering motor, a speed reducer, a first connecting rod and a second connecting rod, wherein the output end of the speed reducer is connected with the first connecting rod, and the first connecting rod is hinged with the second connecting rod; the wheel bracket is also provided with a second knuckle arm, and the second knuckle arm is hinged with the second connecting rod; the steering motor drives the wheel bracket to rotate around the second kingpin axis (i.e., a pin axis) through the speed reducer, the first connecting rod, the second connecting rod and the second knuckle arm.
According to the steering and suspension system of the present invention, the decelerator has a self-locking function.
In addition, the invention also provides a steering and suspension system, which comprises: the steering system comprises a spring strut, an upper guide element, a lower guide spherical hinge, a transverse swing arm, a wheel bracket, a first steering knuckle arm, a steering tie rod, a steering machine and a wheel rim steering machine; wherein,
the lower end of the spring support is connected with the upper end of the wheel bracket through the upper guide element, and the lower end of the wheel bracket is connected with the yaw arm through the lower guide spherical hinge; the upper supporting point of the spring support column and the connecting line of the center of the lower guide spherical hinge form a first main pin axis; the upper guide element and the lower guide spherical hinge form a second main pin axis;
the first knuckle arm is fixedly connected to the spring support column and is connected with the steering machine through the steering tie rod; the steering engine is arranged on the vehicle body and used for driving the spring support to rotate around the axis of the first main pin;
the wheel steering machine is arranged on the spring support and used for driving the wheel bracket to rotate around the second kingpin axis.
According to the steering and suspension system of the invention, the steering machine has a straight running mode and a steering mode; the wheel steering machine is provided with a locking mode and a steering mode; when the vehicle turns in running, the wheel-side steering machine works in a locking mode, the steering machine works in a steering mode, and the steering machine drives the spring support column and the wheel bracket to rotate around the first king pin axis; when the vehicle is parked, the steering machine works in a straight driving mode, the wheel-side steering machine works in a steering mode, and the wheel-side steering machine drives the wheel bracket to rotate around the second main pin axis.
According to the steering and suspension system of the invention, the wheel-side steering machine works in a locking mode, the steering machine works in a steering mode, and the achievable steering angle range of the wheels is at least +/-35 degrees; the steering machine works in a straight driving mode, the wheel-side steering machine works in a steering mode, and the achievable steering angle range of the wheels is at least 0-90 degrees.
According to the steering and suspension system of the present invention, the second kingpin axis is substantially perpendicular to the ground, and the wheels do not cause the vehicle body to move up and down when they are turned, which is advantageous in providing a good riding feeling.
According to the steering and suspension system of the present invention, the upper guide member may be a guide ball hinge or a bearing. When the upper guide element adopts a guide spherical hinge, a connecting line of the center of the guide spherical hinge and the center of the lower guide spherical hinge forms the second main pin axis; when the upper guide element adopts a bearing, the axis of the bearing passes through the center of the lower guide spherical hinge to form the second kingpin axis.
According to the steering and suspension system, the transverse swing arm is 7-shaped, and the transverse length of the transverse swing arm is larger than the radius of the wheel, so that the dynamic characteristics of the vehicle can be improved.
According to the steering and suspension system of the invention, the steering machine can be arranged below or above: the steering machine is arranged below, and the first steering knuckle arm is fixedly connected to the lower end of the spring support column; or the steering gear is arranged on the upper part, and the first steering knuckle arm is fixedly connected to the middle position of the spring strut.
According to the steering and suspension system of the present invention, the steering machine may be a rack-and-pinion steering machine with steering assistance or a recirculating ball steering machine with steering assistance. The steering assistance of the steering machine can be realized by adopting a hydraulic assistance mode, an electrohydraulic assistance mode or an electric assistance mode so as to overcome the increased steering resistance moment when an in-wheel motor is arranged in the wheel.
According to the steering and suspension system, the upper guide element is a bearing, the wheel side steering machine comprises a steering motor and a speed reducer, the upper end of the wheel bracket is supported on the bearing and is connected with the output end of the speed reducer, and the steering motor drives the wheel bracket to rotate around the second kingpin axis through the speed reducer; or alternatively
The upper guide element is a guide spherical hinge, the wheel steering machine comprises a steering motor, a speed reducer, a first connecting rod and a second connecting rod, the output end of the speed reducer is connected with the first connecting rod, and the first connecting rod is hinged with the second connecting rod; the wheel bracket is further provided with a second steering arm, the second steering arm is hinged with the second connecting rod, and the steering motor drives the wheel bracket to rotate around the second main pin axis through the speed reducer, the first connecting rod, the second connecting rod and the second steering arm.
According to the steering and suspension system of the present invention, the decelerator has a self-locking function.
Of course, if a front-wheel-only steered vehicle is constructed, the steering and suspension system described above can be used for the non-steered rear axle of the vehicle with appropriate simplification. The simplified steering and suspension system can be used to implement a non-steering rear axle of the vehicle by simply eliminating the steering engine and attaching the tie rod to the body. The method comprises the following steps:
a further steering and suspension system comprising: the steering system comprises a spring strut, an upper guide element, a lower guide spherical hinge, a transverse swing arm, a wheel bracket, a first steering knuckle arm, a steering tie rod and a wheel steering machine; wherein,
the lower end of the spring support is connected with the upper end of the wheel bracket through the upper guide element, and the lower end of the wheel bracket is connected with the yaw arm through the lower guide spherical hinge; the upper supporting point of the spring support column and the connecting line of the center of the lower guide spherical hinge form a first main pin axis; the upper guide element and the lower guide spherical hinge form a second main pin axis;
the first knuckle arm is fixedly connected to the spring support column and is connected with the vehicle body through the transverse tie rod;
the wheel steering machine is arranged on the spring support and used for driving the wheel bracket to rotate around the second kingpin axis.
According to the steering and suspension system of the present invention, the second kingpin axis is substantially perpendicular to the ground, and the wheels do not cause the vehicle body to move up and down when they are turned, which is advantageous in providing a good riding feeling.
According to the steering and suspension system of the present invention, the upper guide member may be a guide ball hinge or a bearing. When the upper guide element adopts a guide spherical hinge, a connecting line of the center of the guide spherical hinge and the center of the lower guide spherical hinge forms the second main pin axis; when the upper guide element adopts a bearing, the axis of the bearing passes through the center of the lower guide spherical hinge to form the second kingpin axis.
According to the steering and suspension system, the transverse swing arm is 7-shaped, and the transverse length of the transverse swing arm is larger than the radius of the wheel, so that the dynamic characteristics of the vehicle can be improved.
According to the steering and suspension system, the upper guide element is a bearing, the wheel side steering machine comprises a steering motor and a speed reducer, the upper end of the wheel bracket is supported on the bearing and is connected with the output end of the speed reducer, and the steering motor drives the wheel bracket to rotate around the second kingpin axis through the speed reducer; or alternatively
The upper guide element is a guide spherical hinge, the wheel steering machine comprises a steering motor, a speed reducer, a first connecting rod and a second connecting rod, the output end of the speed reducer is connected with the first connecting rod, and the first connecting rod is hinged with the second connecting rod; the wheel bracket is further provided with a second steering arm, the second steering arm is hinged with the second connecting rod, and the steering motor drives the wheel bracket to rotate around the second main pin axis through the speed reducer, the first connecting rod, the second connecting rod and the second steering arm.
According to the steering and suspension system of the present invention, the decelerator has a self-locking function.
Compared with the prior art, the invention has the following beneficial technical effects:
the steering and suspension system provided by the invention has the advantages that the steering machine drives the wheels to steer when the vehicle runs, the wheel-side steering machine drives the wheels to steer when the vehicle parks, the steering performance of the vehicle during running is ensured under the condition of obviously reducing the requirement on a steering control system, and the parking process is simplified.
These and other objects, features and advantages of the present invention will become more fully apparent from the following detailed description, the accompanying drawings and the claims, and may be learned by the practice of the invention as set forth hereinafter, the apparatus and the combination thereof as set forth hereinafter.
Drawings
FIG. 1 is a schematic perspective view of a steering and suspension system according to a first embodiment of the present invention;
FIG. 2 is an enlarged schematic view of a portion of the steering and suspension system shown in FIG. 1;
FIG. 3 is a schematic view of the steering and suspension system of FIG. 1 in a straight-ahead mode;
FIG. 4 is a schematic view of the steering and suspension system of FIG. 1 in a center steering mode;
FIG. 5 is a schematic view of the steering and suspension system of FIG. 1 in a fixed point steering mode;
FIG. 6 is a schematic view of the steering and suspension system of FIG. 1 in a lateral straight mode of operation;
FIG. 7 is a schematic perspective view of a steering and suspension system according to a second embodiment of the present invention;
fig. 8 is an enlarged partial schematic view of the steering and suspension system shown in fig. 7.
(symbol description)
10. Spring strut 20 yaw arm
21. Lower guide ball pivot 30 wheel bracket
31. First steering arm 32 second steering arm
40. Pin 50 support bearing
51. Upper guide element 61 steering gear
62. Steering column 63 steering wheel
64. Steering tie rod 70 wheel edge steering machine
71. Steering motor 72 speed reducer
73. First link 74 second link
KP1 first kingpin axis KP2 second kingpin axis
Detailed Description
In order that the technical contents of the present invention may be more clearly understood, embodiments of the present invention will be described in detail with reference to the accompanying drawings. It is to be understood that the embodiments of the invention described below and shown in the drawings are illustrative of the invention and are not limiting thereof.
Example 1
Referring to fig. 1 to 6, in a first embodiment of the present invention, a steering and suspension system of the present invention includes: spring strut 10, pin 40, lower guide ball joint 21, yaw arm 20, wheel carrier 30, first knuckle arm 31, tie rod 64, steering engine 61, wheel side steering engine 70; wherein,
the lower end of the spring strut 10 is fixedly connected with the upper end of a pin shaft 40, and the lower end of the pin shaft 40 is connected with a yaw arm 20 through a lower guide spherical hinge 21; the connection line between the upper pivot of the spring prop 10 and the center of the lower guide spherical hinge 21 forms a first main pin axis KP1; the pin axis of the pin 40 is a second main pin axis KP2, and the second main pin axis KP2 coincides with the first main pin axis KP1;
one end of the first knuckle arm 31 is fixedly connected to the pin 40 or the spring strut 10, and the other end of the first knuckle arm 31 is connected to the steering gear 61 through a tie rod 64; a steering gear 61 mounted on the vehicle body for driving the spring strut 10 to rotate about the first kingpin axis KP1;
a wheel-side steering machine 70 mounted on the pin 40 or the spring strut 10 for driving the wheel carrier 30 to rotate about the pin axis (second kingpin axis KP 2); and the wheel carrier 30 is supported on the pin 40, and the wheel carrier 30 is rotatable with respect to the pin 40.
In the steering and suspension system described above, the steering machine 61 has a straight running mode and a steering mode, and the rim steering machine 70 has a lock mode and a steering mode: when the vehicle is turning during running, the rim steering machine 70 is operated in the locking mode, the steering machine 61 is operated in the steering mode, and the steering machine 61 drives the spring strut 10 and the wheel carrier 30 to rotate about the first kingpin axis KP1; when parking, the steering gear 61 is operated in the straight running mode, the wheel side steering gear 70 is operated in the steering mode, and the wheel side steering gear 70 drives the wheel carrier 30 to rotate about the pin axis (second kingpin axis KP 2).
The wheel-side steering machine 70 operates in the locking mode and the steering machine 61 operates in the steering mode, the achievable wheel steering angle range being at least + -35 deg.; the steering machine 61 is operated in the straight running mode, the rim steering machine 70 is operated in the steering mode, and the achievable wheel steering angle range is at least 0 to 90 °.
Here, the straight running mode of the steering gear 61 means that the wheels can ensure straight running of the vehicle when the steering wheel 63 is at the neutral position or zero position, and the steering mode means that the wheels can be steered to the left or right as in conventional automobile wheel steering when the steering wheel 63 is turned to the left or right. The lock mode of the wheel side steering machine 70 is a position where the wheel side steering machine 70 locks the wheel carrier 30 and the vehicle can travel straight when the steering wheel 63 is swung, and the steering mode is a position where the steering wheel 63 is swung and the spring stay 10 is not rotated and the wheel side steering machine 70 drives the wheel carrier 30 and the wheels to steer.
That is, when steering while the vehicle is running, only the steering machine 61 drives the wheels to steer as in the conventional automobile steering system, and the achievable wheel steering angle range is the same as that achievable by the conventional steering system; while parking, only the wheel side steering machine 70 drives the wheels to steer, and the maximum wheel steering angle which can be realized reaches 90 degrees required by transverse running, so that the requirements of in-situ center steering and fixed-point steering can be obviously met. The front side of the front wheels are steered into the vehicle, the maximum steering angle of the front wheels is defined as plus 90 DEG, and the front sides of the rear wheels are steered out of the vehicle, and the maximum steering angle of the rear wheels is defined as minus 90 deg.
Here, a wheel steering angle range of at least ±35° means a wheel steering angle range which can be achieved by the steering machine 61 for a conventional automobile, whereas ±45° can be achieved for some special-purpose vehicles; nor are 0 ° and 90 ° intended to mean absolute precise values. Since there are four wheel alignment parameters for the vehicle wheels, 0 is meant to include the toe-in value, while 90 is meant to be slightly greater than this value. Obviously, the toe-in can also be flexibly adjusted by the rim-steer machine 70, or even on-line during the running life of the tire.
The swing arm 20 is shaped like a 7 and has a lateral length greater than the radius of the wheel. In order to accommodate wheels with a maximum steering angle of 90 °, the yaw arm 20 must be arranged closer to the longitudinal axis of the vehicle body, which also means that the lateral length of the yaw arm 20 is longer, which is advantageous for improving the dynamics of the vehicle.
The arrangement of the steering gear 61 may be divided into two types, upper and lower, according to the arrangement height of the steering gear 61. The steering gear 61 is arranged below, and the first knuckle arm 31 is fixedly connected to the lower end of the pin 40 (as shown in fig. 1-2); the steering gear 61 is mounted on the first knuckle arm 31 and is fixed to the middle position of the spring stay 10. Wherein, when the steering gear 61 is put on, the steering gear 61 is connected with the two side tie rods 64 having a longer length through a middle member. When the in-wheel motor is provided in the wheel, moving the first knuckle arm 31 out of the wheel is advantageous in arranging the in-wheel motor. When the steering gear 61 is placed under, the steering gear 61 is connected to the tie rod 64 on both sides thereof, and the length of the tie rod 64 is short.
The steering gear 61 may be a rack-and-pinion steering gear with steering assistance or a recirculating ball steering gear with steering assistance. The input of the steering gear 61 is also connected to a steering wheel 63 via a steering column 62, as in conventional automotive steering gears. When the steering wheel 63 rotates, the steering gear 61 operates to drive the left and right spring struts 10 to rotate, thereby steering the left and right wheels. The steering assist of the steering machine 61 may be achieved by hydraulic assist, electrohydraulic assist, or electric assist to overcome the steering resistance torque that is increased when an in-wheel motor is provided in the wheels.
The wheel carrier 30 is provided with a pin hole (not shown), and a support bearing 50 is provided between the pin hole and the pin shaft 40. Obviously, the axis of the support bearing 50 coincides with the pin axis (second king pin axis KP 2), ensuring that the wheel carrier 30 can rotate on the pin 40 with greater ease. When the wheel-side steering machine 70 is operated in the locking mode, the wheel carrier 30 remains stationary relative to the pin 40, i.e. the support bearing 50 only acts as a force transfer when the vehicle is running; when the wheel side steering machine 70 works in parking, the wheel bracket 30 and the pin shaft 40 rotate relatively, and the support bearing 50 plays a role in supporting movement and force transmission. The parking time is almost negligible compared to the driving time, so that the support bearing 50 is selected mainly according to the load conditions, and the rotational speed requirement is basically not considered. The support bearing 50 may be a sliding bearing or a rolling bearing, but is not limited thereto.
The wheel steering machine 70 comprises a steering motor 71, a speed reducer 72, a first connecting rod 73 and a second connecting rod 74, wherein the output end of the speed reducer 72 is connected with the first connecting rod 73, and the first connecting rod 73 is hinged with the second connecting rod 74; the wheel bracket 30 is also provided with a second knuckle arm 32, and the second knuckle arm 32 is hinged with a second link 74; the steering motor 71 drives the wheel carrier 30 to rotate through the decelerator 72, the first link 73, the second link 74, and the second knuckle arm 32. With the link mechanism, the steering motor 71 may be disposed at other positions without necessarily coaxially disposing the steering motor 71 on the pin axis (the second kingpin axis KP 2). Of course, if space permits, the steering motor 71 and the speed reducer 72 may be coaxially disposed on the pin axis (second kingpin axis KP 2), the first link 73 may be fixedly coupled to the second knuckle arm 32, and the steering motor 71 may be rotated to drive the wheel carrier 30 to rotate about the pin axis (second kingpin axis KP 2).
The wheel-side steering machine 70 does not participate in driving the wheel steering when the vehicle is steering during traveling, works only when parking, and does not involve complex vehicle dynamics, so that the requirements on the steering control system can be significantly reduced. The wheel side steering machine 70 only needs to be reliably locked when the vehicle is running normally, and the vehicle is driven to a proper angle according to the kinematic requirement of the vehicle when the vehicle is parked, so that the requirement on a steering control system is not high, and the state-of-the-art can be realized.
The wheel-side steering machine 70 has a locking function, which can be achieved by self-locking the gear 72 and/or by operating the steering motor 71 in a locking mode. However, since the lock mode of the steering motor 71 is realized by supplying electricity to the steering motor 71, it is preferable to realize the lock function of the rim steering motor 70 by using the speed reducer 72 having a self-locking function. For example, a planetary reducer with a large reduction ratio may be used, and may have a self-locking function when the reduction ratio exceeds a certain value, i.e., when the steering motor 71 is de-energized, the ground force acting on the wheel carrier 30 does not drive the wheel carrier 30 to rotate relative to the spring strut 10.
The steering and suspension system is mainly used for a front axle of an automobile, but obviously can also be used for a steering rear axle of the automobile to form a four-wheel steering system.
If a front-wheel-only steered vehicle is constructed, it is obvious that the steering and suspension system described above can be used for the non-steered rear axle of the vehicle with a suitable simplification. The simplified steering and suspension system can be used to implement a non-steering rear axle of the vehicle by simply eliminating the steering gear 61 and attaching the tie rod 64 to the body. That is, the simplified steering and suspension system includes: spring strut 10, pin 40, lower steering ball joint 21, yaw arm 20, wheel carrier 30, first knuckle arm 31, tie rod 64, and wheel side steering machine 70; the lower end of the spring strut 10 is fixedly connected with the upper end of a pin shaft 40, and the lower end of the pin shaft 40 is connected with the yaw arm 20 through a lower guide spherical hinge 21; the connection line between the upper pivot of the spring prop 10 and the center of the lower guide spherical hinge 21 forms a first main pin axis KP1; the pin axis of the pin 40 is a second main pin axis KP2, and the second main pin axis KP2 coincides with the first main pin axis KP1; one end of the first knuckle arm 31 is fixedly connected to the pin 40 or the spring strut 10, and the other end of the first knuckle arm 31 is connected to the vehicle body through a tie rod 64; a wheel-side steering machine 70 mounted on the pin 40 or the spring strut 10 for driving the wheel carrier 30 to rotate about the pin axis (second kingpin axis KP 2); and the wheel carrier 30 is supported on the pin 40, and the wheel carrier 30 is rotatable with respect to the pin 40. In the simplified steering and suspension system, the arrangement and consideration of the components, such as the swing arm, the pin hole in the wheel carrier, the wheel side steering, the speed reducer, etc., are the same as those in the above-described non-simplified steering and suspension system, and will not be described again.
It should be noted that wheel-guided spring struts are not typically used as rear axle suspensions, as they take up part of the trunk space and cause it to be irregularly shaped. However, in this embodiment, the disadvantage of the irregular shape of the trunk space caused by the spring struts 10 is not apparent, since the maximum steering angle of the wheels reaches-90 °, and the trunk space must be provided with the required wheel space.
When the front axle and the rear axle of the four-wheel automobile are both provided with the steering and suspension system (not simplified), the modes of center steering (shown in fig. 4), fixed-point steering (shown in fig. 5) and transverse straight driving (shown in fig. 6) can be realized only by rotating the wheels by a proper angle during parking, so that the parking process and operation are remarkably simplified, and the automatic parking function is also easy to realize.
Example 2
Referring to fig. 7 and 8, in a second embodiment of the present invention, the steering and suspension system of the present invention includes: spring strut 10, upper guide element 51, lower guide ball joint 21, yaw arm 20, wheel carrier 30, first knuckle arm 31, tie rod 64, steering engine 61 and wheel side steering engine 70; wherein,
the lower end of the spring prop 10 is connected with the upper end of the wheel bracket 30 through an upper guide element 51, the lower end of the wheel bracket 30 is connected with the yaw arm 20 through a lower guide spherical hinge 21, and the connecting line of the upper pivot of the spring prop 10 and the center of the lower guide spherical hinge 21 forms a first kingpin axis KP1; the upper guide element 51 forms a second kingpin axis KP2 with the lower guide ball joint 21;
one end of the first knuckle arm 31 is fixedly connected to the spring stay 10, and the other end of the first knuckle arm 31 is connected to the steering gear 61 through a tie rod 64; a steering gear 61 mounted on the vehicle body for driving the spring strut 10 to rotate about the first kingpin axis KP1;
a wheel-side steering engine 70 is mounted on the spring strut 10 for driving the wheel carrier 30 in rotation about the second kingpin axis KP2.
Also, the steering gear 61 has a straight running mode and a steering mode; the wheel side steering machine 70 has a lock-up mode and a steering mode; when the vehicle is turning during running, the rim steering machine 70 is operated in the locking mode, the steering machine 61 is operated in the steering mode, and the steering machine 61 drives the spring strut 10 and the wheel carrier 30 to rotate about the first kingpin axis KP1; when the vehicle is parked, the steering gear 61 is operated in the straight running mode, the on-wheel steering gear 70 is operated in the steering mode, and the on-wheel steering gear 70 drives the wheel carrier 30 to rotate about the second kingpin axis KP2.
The wheel-side steering machine 70 operates in the locking mode and the steering machine 61 operates in the steering mode, the achievable wheel steering angle range being at least + -35 deg.; the steering machine 61 is operated in the straight running mode, the rim steering machine 70 is operated in the steering mode, and the achievable wheel steering angle range is at least 0 to 90 °.
The definition of the straight running mode and the steering mode of the steering gear 61, the locking mode and the steering mode of the wheel side steering gear 70, and the wheel steering angle range of the present embodiment are the same as those of the first embodiment, and will not be repeated here.
The second kingpin axis KP2 is substantially perpendicular to the ground. The second kingpin axis KP2 is only required to meet the requirements when the vehicle is parked, and the problem of aligning torque or the like is not considered, because the operation of the steering wheel 63 is not involved, and the corresponding wheel steering and returning are achieved only by the rim steering machine 70. When the second kingpin axis KP2 is substantially perpendicular to the ground, the wheels do not cause upward and downward movement of the vehicle body when turned, which is advantageous in providing a good riding feeling. Of course, it is also possible to choose the second kingpin axis KP2 to be inclined inwards, i.e. the upper guide element 51 is closer to the spring strut 10, or to choose the second kingpin axis KP2 to be inclined outwards, i.e. the upper guide element 51 is further from the spring strut 10, which may be chosen according to the actual need and the available space.
The upper guide member 51 may be a guide ball hinge or a bearing. When the upper guide member 51 adopts a guide ball hinge, a line connecting the center of the guide ball hinge and the center of the lower guide ball hinge 21 forms the second kingpin axis KP2. When the upper guide member 51 employs a bearing, the axis of the bearing passes through the center of the lower guide ball pivot 21 to form the second kingpin axis KP2. The two ways may be selected according to the actual arrangement, but not limited to, and other suitable guiding elements may be used.
As in the first embodiment, the yaw arm 20 also has a "7" shape, and its lateral length is also greater than the wheel radius, which will not be described in detail herein.
As in the first embodiment, the arrangement of the steering gear 61 can be divided into two types, upper and lower, depending on the arrangement height of the steering gear 61. With a longer length of the spring strut 10, i.e. with the spring strut 10 extending down to the vicinity of the yaw arm 20, the steering gear 61 may be lowered and the first knuckle arm 31 may be fixedly attached to the lower end of the spring strut 10, so that more advantageous vehicle dynamics may be obtained. The steering gear 61 may be disposed upward, and the first knuckle arm 31 may be fixed to the middle position of the spring stay 10.
As in the first embodiment, the steering gear 61 may be a rack-and-pinion steering gear with steering assistance or a recirculating ball steering gear with steering assistance, which will not be described in detail.
The wheel side steering machine 70 includes a steering motor 71 and a decelerator 72; when the upper guide member 51 is a bearing, the upper end of the wheel carrier 30 is supported on the bearing and connected to the output end of the speed reducer 72, and the steering motor 71 drives the wheel carrier 30 to rotate about the second kingpin axis KP2 through the speed reducer 72. The steering motor 71 is coaxially disposed on the second kingpin axis KP2, and each link can be omitted, resulting in a more compact structure. When the upper guide element 51 is a guide ball hinge, the wheel bracket 30 can be driven to rotate by a connecting rod and a second knuckle arm provided on the wheel bracket 30, for example, the rim steering machine comprises a steering motor, a speed reducer, a first connecting rod and a second connecting rod, the output end of the speed reducer is connected with the first connecting rod, the first connecting rod is hinged with the second connecting rod, the second connecting rod is hinged with the second knuckle arm provided on the wheel bracket, and the steering motor drives the wheel bracket to rotate around the second kingpin axis KP2 by the speed reducer, the first connecting rod, the second connecting rod and the second knuckle arm. The two modes can be selected according to actual needs, but are not limited thereto.
As in the first embodiment, the rim steering engine 70 has a locking function, and preferably the decelerator 72 has a self-locking function, which will not be described in detail.
Also, the steering and suspension system described above is mainly used for a front axle of an automobile, but it is also obviously applicable to a steering rear axle of an automobile to constitute a four-wheel steering system.
Also, if a front-wheel steering-only vehicle is constructed, it is apparent that the steering and suspension system described above can be used for a non-steering rear axle of the vehicle with appropriate simplification. The simplified steering and suspension system can be used to implement a non-steering rear axle of the vehicle by simply eliminating the steering gear 61 and attaching the tie rod 64 to the body. That is, the simplified steering and suspension system includes: spring strut 10, upper guide element 51, lower guide ball joint 21, yaw arm 20, wheel carrier 30, first knuckle arm 31, tie rod 64 and wheel side steering 70; wherein, the lower end of the spring prop 10 is connected with the upper end of the wheel bracket 30 through the upper guiding element 51, the lower end of the wheel bracket 30 is connected with the yaw arm 20 through the lower guiding spherical hinge 21, and the connecting line of the upper supporting point of the spring prop 10 and the center of the lower guiding spherical hinge 21 forms a first main pin axis KP1; the upper guide element 51 forms a second kingpin axis KP2 with the lower guide ball joint 21; one end of the first knuckle arm 31 is fixedly connected to the spring stay 10, and the other end of the first knuckle arm 31 is connected to the vehicle body through a tie rod 64; a wheel-side steering engine 70 is mounted on the spring strut 10 for driving the wheel carrier 30 in rotation about the second kingpin axis KP2. The arrangement and consideration of the components in the simplified steering and suspension system, such as the second kingpin axis, the upper guide element, the swing arm, the wheel side steering, the speed reducer, etc., are the same as in the non-simplified steering and suspension system described above, and will not be repeated here.
When the front axle and the rear axle of the four-wheel automobile are both provided with the steering and suspension system (not simplified), the wheels are rotated by a proper angle during parking, so that the in-situ center steering, fixed-point steering and transverse running can be realized, the parking process and operation are obviously simplified, and the automatic parking function is also easy to realize.
It should be noted that the steering and suspension system of the embodiments described above may also be used in other multi-axle vehicles for special purposes, significantly improving the mobility thereof.
The steering and suspension system provided by the invention has the advantages that the steering machine drives the wheels to steer when the vehicle runs, the wheel-side steering machine drives the wheels to steer when the vehicle parks, the steering performance of the vehicle during running is ensured under the condition of obviously reducing the requirement on a steering control system, and the parking process is simplified.
It will thus be seen that the objects of the present invention have been fully and effectively attained. The functional and structural principles of the present invention have been shown and described in the examples and embodiments may be modified at will without departing from such principles. Therefore, this invention includes all modifications encompassed within the spirit of the following claims and the scope of the following claims.

Claims (9)

1. A steering and suspension system, comprising:
the steering system comprises a spring strut, an upper guide element, a lower guide spherical hinge, a transverse swing arm, a wheel bracket, a first steering knuckle arm, a steering tie rod, a steering machine and a wheel rim steering machine; wherein,
the lower end of the spring support is connected with the upper end of the wheel bracket through the upper guide element, and the lower end of the wheel bracket is connected with the yaw arm through the lower guide spherical hinge; the upper supporting point of the spring support column and the connecting line of the center of the lower guide spherical hinge form a first main pin axis; the upper guide element and the lower guide spherical hinge form a second main pin axis;
the first knuckle arm is fixedly connected to the spring support column and is connected with the steering machine through the steering tie rod; the steering engine is arranged on the vehicle body and used for driving the spring support to rotate around the axis of the first main pin;
the wheel steering machine is arranged on the spring support and used for driving the wheel bracket to rotate around the second kingpin axis.
2. A steering and suspension system, comprising:
the steering system comprises a spring strut, an upper guide element, a lower guide spherical hinge, a transverse swing arm, a wheel bracket, a first steering knuckle arm, a steering tie rod and a wheel steering machine; wherein,
the lower end of the spring support is connected with the upper end of the wheel bracket through the upper guide element, and the lower end of the wheel bracket is connected with the yaw arm through the lower guide spherical hinge; the upper supporting point of the spring support column and the connecting line of the center of the lower guide spherical hinge form a first main pin axis; the upper guide element and the lower guide spherical hinge form a second main pin axis;
the first knuckle arm is fixedly connected to the spring support column and is connected with the vehicle body through the transverse tie rod;
the wheel steering machine is arranged on the spring support and used for driving the wheel bracket to rotate around the second kingpin axis.
3. The steering and suspension system of claim 1 or 2 wherein said arm is shaped in a "7" shape with a lateral length greater than the wheel radius.
4. The steering and suspension system of claim 1 wherein said steering engine is underlaid and said first knuckle arm is fixedly secured to a lower end of said spring strut; or the steering gear is arranged on the upper part, and the first steering knuckle arm is fixedly connected to the middle position of the spring strut.
5. The steering and suspension system of claim 1 or 2, wherein the second kingpin axis is substantially perpendicular to the ground.
6. Steering and suspension system according to claim 1 or 2, characterized in that,
the upper guide element is a bearing, the wheel steering machine comprises a steering motor and a speed reducer, the upper end of the wheel bracket is supported on the bearing and is connected with the output end of the speed reducer, and the steering motor drives the wheel bracket to rotate around the second kingpin axis through the speed reducer; or alternatively
The upper guide element is a guide spherical hinge, the wheel steering machine comprises a steering motor, a speed reducer, a first connecting rod and a second connecting rod, the output end of the speed reducer is connected with the first connecting rod, and the first connecting rod is hinged with the second connecting rod; the wheel bracket is further provided with a second steering arm, the second steering arm is hinged with the second connecting rod, and the steering motor drives the wheel bracket to rotate around the second main pin axis through the speed reducer, the first connecting rod, the second connecting rod and the second steering arm.
7. The steering and suspension system of claim 6 wherein said decelerator has a self-locking function.
8. The steering and suspension system of claim 1 wherein said steering engine has a straight drive mode and a steering mode; the wheel steering machine is provided with a locking mode and a steering mode;
when the vehicle turns in running, the wheel-side steering machine works in a locking mode, the steering machine works in a steering mode, and the steering machine drives the spring support column and the wheel bracket to rotate around the first king pin axis;
when the vehicle is parked, the steering machine works in a straight driving mode, the wheel-side steering machine works in a steering mode, and the wheel-side steering machine drives the wheel bracket to rotate around the second main pin axis.
9. The steering and suspension system of claim 8 wherein said wheel-side steering is operated in a locked mode and said steering is operated in a steering mode to achieve a range of wheel steering angles of at least + -35 degrees; the steering machine works in a straight driving mode, the wheel-side steering machine works in a steering mode, and the range of the steering angle of wheels can be at least 0-90 degrees.
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KR20210157534A (en) * 2020-06-22 2021-12-29 현대자동차주식회사 Joining Structure for Suspension
KR20220017237A (en) * 2020-08-04 2022-02-11 현대자동차주식회사 Joining Structure for Suspension
JP2022030203A (en) * 2020-08-06 2022-02-18 トヨタ自動車株式会社 Steering system

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CN104340001A (en) * 2013-08-09 2015-02-11 长春孔辉汽车科技有限公司 Central steering type independent suspension
CN105799503A (en) * 2016-05-24 2016-07-27 杭州伯坦科技工程有限公司 Electric car chassis assembly capable of achieving four-wheel wheel-side-motor drive and four-wheel independent turning and control method
CN206664680U (en) * 2017-01-11 2017-11-24 上海艾高实业有限公司 One kind turns to and suspension system

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CN102717696A (en) * 2012-06-21 2012-10-10 上海中科深江电动车辆有限公司 Independent driving, steering and suspending system
CN104340001A (en) * 2013-08-09 2015-02-11 长春孔辉汽车科技有限公司 Central steering type independent suspension
CN105799503A (en) * 2016-05-24 2016-07-27 杭州伯坦科技工程有限公司 Electric car chassis assembly capable of achieving four-wheel wheel-side-motor drive and four-wheel independent turning and control method
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