CN109353407A - An omnidirectional driving vehicle modular drive steering system and vehicle - Google Patents
An omnidirectional driving vehicle modular drive steering system and vehicle Download PDFInfo
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- 238000010168 coupling process Methods 0.000 claims abstract description 30
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- 239000006096 absorbing agent Substances 0.000 claims abstract description 29
- 239000000725 suspension Substances 0.000 claims abstract description 23
- 230000001360 synchronised effect Effects 0.000 claims description 4
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- 230000006872 improvement Effects 0.000 description 9
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- 239000002828 fuel tank Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/021—Determination of steering angle
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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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Abstract
本发明公开了一种全向行驶车辆模块化驱动转向系统及车辆，属于电动汽车领域，该驱动转向系统包括悬架连杆、减震器、转向电机、减速器、角度传感器、车轮支架、车轮和驱动电机等。转向电机通过联轴器、减速器驱动车架带动车轮独立全向水平360°全向范围转向。通过角度传感器精确检测轮胎位置，实现快速精确地的转向控制。驱动电机安装于轮胎内直接驱动车轮转动。转向电机固定于车底盘上，降低了系统的等效簧下质量，减少共振以及来自路面的冲击和振动，改善汽车行驶的平稳性。该车辆采用本发明提供的全向行驶车辆模块化驱动转向系统。本发明具有结构简单可靠，并可实现车辆车轮进行独立全向转向与驱动，提高了转向系统的控制精度和响应速度。
The invention discloses an omnidirectional driving vehicle modular drive steering system and a vehicle, belonging to the field of electric vehicles. The drive steering system comprises a suspension connecting rod, a shock absorber, a steering motor, a reducer, an angle sensor, a wheel bracket, a wheel and drive motors, etc. The steering motor drives the frame through the coupling and the reducer to drive the wheels to steer independently in an omnidirectional horizontal 360° omnidirectional range. The tire position is accurately detected by the angle sensor to realize fast and precise steering control. The drive motor is installed in the tire to directly drive the wheel to rotate. The steering motor is fixed on the chassis of the vehicle, which reduces the equivalent unsprung mass of the system, reduces resonance and shock and vibration from the road surface, and improves the stability of the vehicle. The vehicle adopts the omnidirectional driving vehicle modular drive steering system provided by the present invention. The invention has the advantages of simple and reliable structure, can realize independent omnidirectional steering and driving of vehicle wheels, and improve the control precision and response speed of the steering system.
Description
技术领域technical field
本发明属于电动汽车转向技术领域，具体涉及一种全向行驶车辆模块化驱动转向系统及车辆。The invention belongs to the technical field of electric vehicle steering, in particular to an omnidirectional driving vehicle modular drive steering system and a vehicle.
背景技术Background technique
随着汽车技术的发展和人们生活水平的不断提高，汽车保有量正迅速增加。然而，伴随着汽车的大量增加，各城市的停车场、道路都出现了拥挤现象。目前大多数传统汽车都是前轮转向，后轮不参与转向，电动汽车大部分也沿用了这样的一种转向系统，导致转弯半径较大，转向不灵活，尤其在空间狭小的闹市区或者停车场，车辆的转向受到比较大的限制。给驾驶员在狭窄空间转向及泊车带来诸多不便。With the development of automobile technology and the continuous improvement of people's living standards, the number of automobiles is increasing rapidly. However, with the massive increase of automobiles, the parking lot and roads in various cities are crowded. At present, most traditional cars are front-wheel steering, and the rear wheels do not participate in steering. Most electric vehicles also use such a steering system, resulting in a large turning radius and inflexible steering, especially in small downtown areas or parking. In the field, the steering of the vehicle is relatively restricted. It brings a lot of inconvenience to the driver when turning and parking in a narrow space.
而全向行驶车辆模块化驱动转向系统有效的解决了这一问题。全向行驶车辆模块化驱动转向系统车轮具有车轮独立全向转向并且汽车后轮也和前轮一样，具有一定的转向功能，不仅可以与前轮同方向转向，也可以与前轮反方向转向。相比于传统前轮转向(2WS)，车轮独立全向转向可以提高汽车高速行驶以及侧向风力作用下的操纵稳定性，改善低速时的操纵轻便性，提高了汽车的行驶安全性。同时减小汽车的转弯半径，或者无需转弯，实现任意的方向的直线移动，提高了泊车的灵活性，节省空间。在传统车轮转向汽车中，车轮转向装置的控制方式主要有机械控制式、液压控制式和电子线传控制式等。机械控制式车轮转向系统中，通过方向盘的转向操控行为并经过一系列传动装置传递至后轮转向机构，响应时间长、传动比和转角位置的控制精确度和灵活度差；而液压控制式车轮转向系统则由于需要液压泵、液压马达、液压阀、以及油箱、液压管路等元件组成，结构比较复杂、成本高，易于出现故障且维修困难；采用电子线传控制车轮转向系统的电动车辆则由于需要设计复杂的控制算法分别控制前轮转向和后轮转向，而且需要在前轮转向装置中增加路感反馈电机，“路感”的算法比较复杂。The modular drive steering system for omnidirectional vehicles effectively solves this problem. The wheels of the modular drive steering system for omnidirectional vehicles have independent omnidirectional steering, and the rear wheels of the car have a certain steering function like the front wheels. They can not only steer in the same direction as the front wheels, but also in the opposite direction. Compared with the traditional front wheel steering (2WS), the wheel independent omni-directional steering can improve the steering stability of the car at high speed and under the action of lateral wind, improve the maneuverability at low speed, and improve the driving safety of the car. At the same time, the turning radius of the car is reduced, or there is no need to turn, and straight-line movement in any direction is realized, which improves the flexibility of parking and saves space. In traditional wheel steering vehicles, the control methods of wheel steering devices mainly include mechanical control, hydraulic control and electronic wire-by-wire control. In the mechanically controlled wheel steering system, the steering control behavior of the steering wheel is transmitted to the rear wheel steering mechanism through a series of transmission devices, which has a long response time, poor control accuracy and flexibility of the transmission ratio and corner position; while the hydraulically controlled wheel steering system The steering system is composed of hydraulic pumps, hydraulic motors, hydraulic valves, fuel tanks, hydraulic pipelines and other components. The structure is complex, the cost is high, it is prone to failure and maintenance is difficult; electric vehicles that use electronic wire-by-wire control wheel steering systems are Due to the need to design a complex control algorithm to control the front wheel steering and rear wheel steering respectively, and to add a road sense feedback motor to the front wheel steering device, the algorithm of "road sense" is more complicated.
综上所述，如何设计具有结构简单可靠、全向行驶车辆模块化驱动转向系统的汽车迫在眉睫。In summary, how to design a vehicle with a simple and reliable structure and a modular drive-steering system for omnidirectional vehicles is imminent.
发明内容SUMMARY OF THE INVENTION
本发明为克服上述现有技术中的缺点，提供了一种全向行驶车辆模块化驱动转向系统及车辆。在显著降低悬架总成机械结构复杂度的同时，将悬架与车轮转向装置集成在一起，提高了装置的集成度和可靠性。每一个车轮均可实现独立360°全向水平转向。通过绝对值编码器可以实时的提供轮胎的精确转角，方便进行闭环转向控制。转向电机固定于车底盘上，降低了系统的等效簧下质量，减少共振以及来自路面的冲击和振动，改善汽车行驶的平稳性。In order to overcome the above-mentioned shortcomings in the prior art, the present invention provides an omnidirectional driving vehicle modular drive steering system and a vehicle. While the mechanical structure complexity of the suspension assembly is significantly reduced, the suspension is integrated with the wheel steering device, which improves the integration and reliability of the device. Each wheel can achieve independent 360° omnidirectional horizontal steering. The absolute value encoder can provide the precise rotation angle of the tire in real time, which is convenient for closed-loop steering control. The steering motor is fixed on the chassis of the vehicle, which reduces the equivalent unsprung mass of the system, reduces resonance and shocks and vibrations from the road surface, and improves the driving stability of the vehicle.
本发明采用如下技术方案来实现的：The present invention adopts following technical scheme to realize:
一种全向行驶车辆模块化驱动转向系统，包括悬架连杆、减震器、转向电机、联轴器、减速器支架、减速器、转轴、角度传感器、车轮支架、驱动电机和车轮；其中，A modular drive steering system for an omnidirectional vehicle, comprising a suspension link, a shock absorber, a steering motor, a coupling, a reducer bracket, a reducer, a rotating shaft, an angle sensor, a wheel bracket, a drive motor and a wheel; wherein ,
减速器支架内侧相对于车底盘平行设置，转向电机安装固定在车底盘内侧，减速器安装在减速器支架外侧上，角度传感器安装于减速器上，车轮支架安装在减速器下方，并通过转轴依次将角度传感器、减速器与车轮支架连接在一起，车轮支架与驱动电机的转轴紧固连接，车轮与驱动电机紧固连接，进而通过车轮支架控制车轮转向，通过驱动电机带动车轮转动，角度传感器用于实时监测车轮的转角位置，并把数据发送至控制器，控制器控制车轮在360°全向范围内转向；The inner side of the reducer bracket is arranged in parallel with the chassis of the vehicle, the steering motor is installed and fixed on the inner side of the vehicle chassis, the reducer is installed on the outside of the reducer bracket, the angle sensor is installed on the reducer, the wheel bracket is installed under the reducer, and through the rotating shaft in turn The angle sensor, the reducer and the wheel bracket are connected together, the wheel bracket is tightly connected with the rotating shaft of the driving motor, and the wheel is firmly connected with the driving motor, and then the steering of the wheel is controlled by the wheel bracket, and the wheel is driven by the driving motor to rotate. It monitors the angular position of the wheel in real time, and sends the data to the controller, which controls the wheel to turn in a 360° omnidirectional range;
转向电机的电机轴伸出端通过联轴器与减速器连接，多个悬架连杆以及减震器的一端铰接在车底盘外侧上，另一端铰接在减速器支架内侧上。The extension end of the motor shaft of the steering motor is connected with the reducer through a coupling, one end of the plurality of suspension links and the shock absorber is hinged on the outside of the chassis, and the other end is hinged on the inside of the reducer bracket.
本发明进一步的改进在于，多个悬架连杆以及减震器的一端通过安装座铰接在车底盘外侧上，另一端通过安装座铰接在减速器支架内侧上。A further improvement of the present invention is that one end of the plurality of suspension links and the shock absorber is hinged on the outer side of the vehicle chassis through the mounting seat, and the other end is hinged on the inner side of the reducer bracket through the mounting seat.
本发明进一步的改进在于，减震器采用橡皮减震器、弹簧减震器或空气式减震器。A further improvement of the present invention is that the shock absorber adopts a rubber shock absorber, a spring shock absorber or an air shock absorber.
本发明进一步的改进在于，联轴器采用弹性联轴器或万向联轴器。A further improvement of the present invention is that the coupling adopts an elastic coupling or a universal coupling.
本发明进一步的改进在于，角度传感器采用绝对值编码器或者旋转编码器。A further improvement of the present invention is that the angle sensor adopts an absolute value encoder or a rotary encoder.
本发明进一步的改进在于，多个悬架连杆通过铰接形成多连杆悬架，保证车轮按预定轨迹上下跳动。A further improvement of the present invention is that a plurality of suspension links are hinged to form a multi-link suspension, so as to ensure that the wheel jumps up and down according to a predetermined trajectory.
本发明进一步的改进在于，转向电机和驱动电机采用无刷直流电动机、永磁同步电动机、伺服电动机、步进电动机或交流异步电动机。A further improvement of the present invention is that the steering motor and the driving motor adopt a brushless DC motor, a permanent magnet synchronous motor, a servo motor, a stepping motor or an AC asynchronous motor.
本发明进一步的改进在于，减速器采用齿轮减速器、蜗杆减速器或行星齿轮减速器。A further improvement of the present invention is that the reducer adopts a gear reducer, a worm reducer or a planetary gear reducer.
一种车辆，该车辆的驱动转向系统由3个上述全向行驶车辆模块化驱动转向系统与车底盘连接构成。A vehicle, the drive steering system of the vehicle is formed by connecting the three above-mentioned omnidirectional vehicle modular drive steering systems to the vehicle chassis.
一种车辆，该车辆的驱动转向系统由4个上述全向行驶车辆模块化驱动转向系统与车底盘连接构成。A vehicle, the drive steering system of the vehicle is formed by connecting four of the above-mentioned omnidirectional vehicle modular drive steering systems to the vehicle chassis.
本发明具有如下有益的技术效果：The present invention has following beneficial technical effect:
与现有技术相比，本发明所提供的全向行驶车辆模块化驱动转向系统是一种机电混合控制系统，具有以下优点：Compared with the prior art, the modular drive steering system for omnidirectional driving vehicles provided by the present invention is an electromechanical hybrid control system, and has the following advantages:
(1)本发明与传统的车轮转向相比，去除了传统车轮转向汽车的机构复杂、质量大的机械连杆机构或者液压系统，结构简单、质量轻；(2)本发明可以使每一个车轮独立水平旋转360°全向，实现任意方向的直线运动以及原地旋转运动，提高了车轮转向的灵活性。(3)角度传感器直接与转向轴连接，便于实时检测四个车轮的水平旋转角度进行闭环驱动控制，简化了控制策略，提高了转向系统的控制精度和响应速度。(4)减速器具有自锁功能，地面所受颠簸振动不向上传递到转向电机上。(5)联轴器可以使转向电机固定于车底盘上，是减小系统的等效簧下质量，使车轮振动频率提高，减少共振以及来自路面的冲击和振动，改善汽车行驶的平顺性。(1) Compared with the traditional wheel steering, the present invention removes the mechanical linkage mechanism or hydraulic system with complicated mechanism and large mass of the traditional wheel steering vehicle, and has a simple structure and light weight; (2) The present invention can make each wheel Independent horizontal rotation of 360° omnidirectional, realizes linear motion in any direction and in-situ rotary motion, improving the flexibility of wheel steering. (3) The angle sensor is directly connected to the steering shaft, which is convenient for real-time detection of the horizontal rotation angle of the four wheels for closed-loop drive control, which simplifies the control strategy and improves the control accuracy and response speed of the steering system. (4) The reducer has a self-locking function, and the bumps and vibrations on the ground are not transmitted upwards to the steering motor. (5) The coupling can fix the steering motor on the chassis of the vehicle, reduce the equivalent unsprung mass of the system, increase the vibration frequency of the wheel, reduce resonance and the impact and vibration from the road surface, and improve the ride comfort of the car.
附图说明Description of drawings
图1为本发明一种全向行驶车辆模块化驱动转向系统的示意图。FIG. 1 is a schematic diagram of a modular drive steering system for an omnidirectional vehicle in accordance with the present invention.
图2为本发明一种全向行驶车辆模块化驱动转向系统结构运动简图。FIG. 2 is a schematic structural movement diagram of a modular drive steering system for an omnidirectional vehicle in accordance with the present invention.
图3为具有3个全向行驶车辆模块化驱动转向系统车辆实施例示意图。FIG. 3 is a schematic diagram of an embodiment of a vehicle with three omnidirectional driving vehicle modular drive steering systems.
图4为具有4个全向行驶车辆模块化驱动转向系统车辆实施例示意图。FIG. 4 is a schematic diagram of an embodiment of a vehicle having four omnidirectional driving vehicles with a modular drive steering system.
附图标记说明：1为转向电机；2为车底盘；3为安装座；4为减震器；5为悬架连杆；6为联轴器；7为减速器支架；8为角度传感器；9为减速器；10为转轴；11为车轮支架；12为驱动电机；13为车轮；14为全向行驶车辆模块化驱动转向系统。Description of the reference numerals: 1 is the steering motor; 2 is the chassis; 3 is the mounting seat; 4 is the shock absorber; 5 is the suspension link; 6 is the coupling; 7 is the reducer bracket; 8 is the angle sensor; 9 is a reducer; 10 is a rotating shaft; 11 is a wheel bracket; 12 is a drive motor; 13 is a wheel; 14 is a modular drive steering system for an omnidirectional vehicle.
具体实施方式Detailed ways
为更进一步阐述本发明为达成预定发明目的所采取的技术手段及功效，以下结合附图及实施例，对依据本发明提出的一种全向行驶车辆模块化驱动转向系统具体实施方式、结构、特征进行详细说明如下。In order to further illustrate the technical means and effects adopted by the present invention to achieve the predetermined purpose of the invention, the following describes the specific implementation, structure, The features are described in detail below.
参见图1，本发明提供的一种全向行驶车辆模块化驱动转向系统，包括：悬架连杆5、减震器4、转向电机1、联轴器6、减速器9、安装座3、转轴10、角度传感器8、车轮支架11、车轮13和驱动电机12。转向电机1安装固定于车底盘2内侧，转向电机1的电机轴伸出端通过联轴器6与减速器9连接。其中转向电机1固定在车底盘2上，有效的降低了等效簧下质量，减少共振以及来自路面的冲击和振动，改善汽车行驶的平稳性。减速器9安装在减速器支架7上，角度传感器8直接安装于减速器9上，通过转轴10将角度传感器8、减速器9与车轮支架11连接在一起。角度传感器8实时监测车轮13的转角位置，并把数据发回控制器，控制车轮13在360°全向范围内转向。车轮支架11与驱动电机12转轴紧固连接，车轮13与驱动电机12紧固连接，进而通过车轮支架11控制车轮13转向，通过驱动电机12直接带动车轮13转动。多个悬架连杆5一端通过安装座3铰接在车底盘2上，另一端通过安装座3铰接在减速器支架7上。减震器4的两端也分别通过安装座铰接在车底盘2与减速器支架7上。其中多个悬架连杆5铰接在车底盘2上，有效的降低了等效簧下质量，增强了汽车行驶的平稳性。Referring to FIG. 1 , a modular drive steering system for an omnidirectional vehicle provided by the present invention includes: a suspension link 5 , a shock absorber 4 , a steering motor 1 , a coupling 6 , a reducer 9 , a mounting seat 3 , A rotating shaft 10 , an angle sensor 8 , a wheel bracket 11 , a wheel 13 and a drive motor 12 . The steering motor 1 is installed and fixed on the inner side of the vehicle chassis 2 , and the motor shaft extension end of the steering motor 1 is connected to the reducer 9 through the coupling 6 . The steering motor 1 is fixed on the vehicle chassis 2, which effectively reduces the equivalent unsprung mass, reduces resonance and the impact and vibration from the road surface, and improves the stability of the vehicle. The speed reducer 9 is installed on the speed reducer bracket 7 , the angle sensor 8 is directly installed on the speed reducer 9 , and the angle sensor 8 , the speed reducer 9 and the wheel bracket 11 are connected together through the rotating shaft 10 . The angle sensor 8 monitors the angular position of the wheel 13 in real time, and sends the data back to the controller to control the wheel 13 to turn in an omnidirectional range of 360°. The wheel bracket 11 is tightly connected with the rotating shaft of the driving motor 12 , and the wheel 13 is tightly connected with the driving motor 12 , and then the wheel bracket 11 controls the steering of the wheel 13 , and the driving motor 12 directly drives the wheel 13 to rotate. One end of the plurality of suspension links 5 is hinged on the chassis 2 through the mounting seat 3 , and the other end is hinged on the reducer bracket 7 through the mounting seat 3 . Both ends of the shock absorber 4 are also hinged on the chassis 2 and the reducer bracket 7 respectively through the mounting seat. A plurality of suspension links 5 are hinged on the vehicle chassis 2, which effectively reduces the equivalent unsprung mass and enhances the running stability of the vehicle.
所述联轴器6与减震器4可伸缩，通过悬架连杆5共同抬高车底盘2。The coupling 6 and the shock absorber 4 are retractable and raise the chassis 2 together through the suspension link 5 .
所述减速器9可以是现有技术中多种类型，如齿轮减速器、蜗杆减速器和行星齿轮减速器等。The reducer 9 can be of various types in the prior art, such as gear reducer, worm reducer and planetary gear reducer.
所述角度传感器8可以是现有技术中多种类型，如绝对值编码器、旋转变压器等角度测量传感器等。The angle sensor 8 can be of various types in the prior art, such as an absolute encoder, an angle measuring sensor such as a resolver, and the like.
所述悬架连杆5通过铰接形成多连杆悬架，保证车轮按预定轨迹上下跳动。The suspension link 5 is hinged to form a multi-link suspension, which ensures that the wheel jumps up and down according to a predetermined trajectory.
所述转向电机1和驱动电机12可为无刷直流电动机、永磁同步电动机、伺服电动机、步进电动机、交流异步电动机等多种类型电机。The steering motor 1 and the driving motor 12 can be various types of motors such as brushless DC motors, permanent magnet synchronous motors, servo motors, stepping motors, and AC asynchronous motors.
所述减震器4可以是现有技术中多种类型减速器，如橡皮减震器、弹簧减震器、空气式减震器等。The shock absorber 4 may be various types of speed reducers in the prior art, such as rubber shock absorbers, spring shock absorbers, air shock absorbers, and the like.
所述联轴器6可以是现有技术中多种类型联轴器，如弹性联轴器、万向联轴器等。The coupling 6 may be various types of couplings in the prior art, such as elastic couplings, universal couplings, and the like.
参见图1与图2，本发明的实施例如下：Referring to Figure 1 and Figure 2, embodiments of the present invention are as follows:
步进电机安装于车底盘2内侧，通过控制脉冲总数和脉冲频率控制步进电机的转角和转速，电机轴伸出端通过可伸缩十字万向联轴器与蜗轮蜗杆减速器中的蜗杆连接，进而控制车轮13转向。The stepping motor is installed on the inside of the chassis 2, and the rotation angle and speed of the stepping motor are controlled by controlling the total number of pulses and the pulse frequency. In turn, the steering of the wheels 13 is controlled.
车底盘2与蜗轮蜗杆减速器支架上分别固定安装若干安装座3，悬架连杆5两端分别铰接在安装座3上，进而一端铰接在车底盘2上，另一端铰接在蜗轮蜗杆减速器支架上。Several mounting seats 3 are fixedly installed on the chassis 2 and the worm gear reducer bracket respectively, and both ends of the suspension link 5 are hinged on the mounting seat 3 respectively, and then one end is hinged on the chassis 2, and the other end is hinged on the worm gear reducer. on the stand.
同样地，空气减震器两端也分别铰接在安装座3，进而一端铰接在车底盘2上，另一端铰接在蜗轮蜗杆减速器支架上，对颠簸路况进行减振缓冲，降低车底盘2的振动。Similarly, both ends of the air shock absorber are also hinged on the mounting seat 3, and then one end is hinged on the chassis 2, and the other end is hinged on the bracket of the worm gear reducer, so as to dampen and buffer the bumpy road conditions and reduce the vibration of the chassis 2. vibration.
蜗轮蜗杆减速器固定在蜗轮蜗杆减速器支架上，蜗杆端通过可伸缩十字万向联轴器与步进电机连接，蜗轮与转轴10连接，通过转轴10带动车轮13转向。The worm gear reducer is fixed on the worm gear reducer bracket, the worm end is connected with the stepper motor through a retractable cross universal coupling, the worm gear is connected with the rotating shaft 10, and the rotating shaft 10 drives the wheel 13 to turn.
绝对值旋转编码器固定在蜗轮蜗杆减速器上，编码器轴通过弹性联轴器与转轴连接，进而实现对车轮转角的实时精确测量。The absolute value rotary encoder is fixed on the worm gear reducer, and the encoder shaft is connected with the rotating shaft through the elastic coupling, so as to realize the real-time accurate measurement of the wheel angle.
车轮支架11一端与转轴10连接，一端与轮毂电机轴连接。One end of the wheel bracket 11 is connected with the rotating shaft 10 and one end is connected with the hub motor shaft.
轮毂电机一端与车轮车架11固定连接，一端与车轮13连接，轮毂电机驱动车辆行驶。One end of the in-wheel motor is fixedly connected to the wheel frame 11, and one end is connected to the wheel 13, and the in-wheel motor drives the vehicle to travel.
上述步进电机、轮毂电机和绝对值旋转编码器均由车辆车载电源供电。The above-mentioned stepper motor, in-wheel motor and absolute value rotary encoder are all powered by the vehicle's on-board power supply.
上述减震器4可为橡皮减震器、弹簧减震器、空气式减震器等。本发明优选但不限于使用空气式减震器。The above-mentioned shock absorber 4 can be a rubber shock absorber, a spring shock absorber, an air shock absorber, or the like. The present invention is preferably, but not limited to, the use of air-type shock absorbers.
上述联轴器6可为现有技术中多种类型联轴器，如弹性联轴器、万向联轴器等。本发明优选但不限于使用可伸缩十字万向联轴器。The above-mentioned coupling 6 may be various types of couplings in the prior art, such as elastic couplings, universal couplings, and the like. The present invention is preferably, but not limited to, the use of telescopic cross universal joints.
上述角度传感器8可为绝对值编码器、旋转变压器等角度测量传感器。本发明优选但不限于使用绝对值旋转编码器。The above-mentioned angle sensor 8 may be an angle measuring sensor such as an absolute encoder, a resolver, or the like. The present invention is preferably, but not limited to, the use of absolute value rotary encoders.
上述悬架连杆5通过铰接形成多连杆悬架，保证车轮13按预定轨迹上下跳动；The above-mentioned suspension link 5 forms a multi-link suspension by hinged connection, so as to ensure that the wheel 13 jumps up and down according to a predetermined trajectory;
上述转向电机1和驱动电机12可为无刷直流电动机、永磁同步电动机、伺服电动机、步进电动机、交流异步电动机等多种类型电机。本发明优选但不限于使用步进电机用作转向电机1；本发明优选但不限于使用无刷直流式轮毂电机作为驱动电机。The steering motor 1 and the driving motor 12 can be various types of motors such as brushless DC motors, permanent magnet synchronous motors, servo motors, stepping motors, and AC asynchronous motors. The present invention is preferably but not limited to using a stepping motor as the steering motor 1; the present invention is preferably but not limited to using a brushless DC in-wheel motor as the driving motor.
上述减速器9可以是现有技术中多种类型减速器齿轮减速器、蜗杆减速器和行星齿轮减速器等。本发明优选但不限于使用蜗轮蜗杆减速器，具有自锁功能，地面所受颠簸振动不向上传递到转向电机1上。The above-mentioned reducer 9 may be various types of reducers in the prior art, such as gear reducers, worm reducers, planetary gear reducers, and the like. The present invention preferably uses, but is not limited to, a worm gear reducer, which has a self-locking function, and the bumpy vibration on the ground is not transmitted upward to the steering motor 1 .
上述联轴器6可以是现有技术中多种类型联轴器，如弹性联轴器、万向联轴器等。本发明优选但不限于使用可伸缩十字万向联轴器。The above-mentioned coupling 6 may be various types of couplings in the prior art, such as elastic couplings, universal couplings, and the like. The present invention is preferably, but not limited to, the use of telescopic cross universal joints.
参见图3，为本发明一种全向行驶车辆模块化驱动转向系统在车辆中的一种具体应用场景。其中14为全向行驶车辆模块化驱动转向系统，2为车底盘。所述车辆驱动转向系统由3个全向行驶车辆模块化驱动转向系统与车底盘2连接构成。Referring to FIG. 3 , it is a specific application scenario of an omnidirectional vehicle modular drive steering system of the present invention in a vehicle. Among them, 14 is the modular drive steering system for omnidirectional driving vehicles, and 2 is the chassis of the vehicle. The vehicle drive steering system is composed of three omnidirectional vehicle modular drive steering systems connected to the vehicle chassis 2 .
参见图4，为本发明一种全向行驶车辆模块化驱动转向系统在车辆中的一种具体应用场景。其中14为全向行驶车辆模块化驱动转向系统，2为车底盘。所述车辆驱动转向系统由4个全向行驶车辆模块化驱动转向系统与车底盘2连接构成。Referring to FIG. 4 , it is a specific application scenario of an omnidirectional vehicle modular drive steering system of the present invention in a vehicle. Among them, 14 is the modular drive steering system for omnidirectional driving vehicles, and 2 is the chassis of the vehicle. The vehicle drive steering system is composed of four omnidirectional vehicle modular drive steering systems connected to the vehicle chassis 2 .
以上所述仅是本发明的一些具体实施例，并非对本发明作任何限制，凡在本发明的精神和原则之内，所做的任何修改、等同替换、改进等，均应包含在本发明的保护范围内。The above are only some specific embodiments of the present invention, and do not limit the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the present invention. within the scope of protection.
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| CN115519953A (en) * | 2022-10-20 | 2022-12-27 | 北理华创(佛山)新能源汽车科技有限公司 | Integrated steering suspension driving system for drive-by-wire chassis and vehicle |
| CN115519953B (en) * | 2022-10-20 | 2023-04-18 | 北理华创(佛山)新能源汽车科技有限公司 | Integrated steering suspension driving system for drive-by-wire chassis and vehicle |
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