CN109677221B - Virtual kingpin suspension system through wheel center - Google Patents

Virtual kingpin suspension system through wheel center Download PDF

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Publication number
CN109677221B
CN109677221B CN201910115534.1A CN201910115534A CN109677221B CN 109677221 B CN109677221 B CN 109677221B CN 201910115534 A CN201910115534 A CN 201910115534A CN 109677221 B CN109677221 B CN 109677221B
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CN
China
Prior art keywords
assembly
wheel
special
main body
steering
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Application number
CN201910115534.1A
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Chinese (zh)
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CN109677221A (en
Inventor
曹安斌
陈春晖
施正堂
孙怡鹏
张赫
张兴龙
钟进
张豪斌
杨阳
杨夺
陈汉涛
陈珍颖
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Hangzhou Automagic Technology Co ltd
Zhejiang Asia Pacific Mechanical and Electronic Co Ltd
Original Assignee
Hangzhou Automagic Technology Co ltd
Zhejiang Asia Pacific Mechanical and Electronic Co Ltd
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Application filed by Hangzhou Automagic Technology Co ltd, Zhejiang Asia Pacific Mechanical and Electronic Co Ltd filed Critical Hangzhou Automagic Technology Co ltd
Priority to CN201910115534.1A priority Critical patent/CN109677221B/en
Publication of CN109677221A publication Critical patent/CN109677221A/en
Application granted granted Critical
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60GVEHICLE SUSPENSION ARRANGEMENTS
    • B60G7/00Pivoted suspension arms; Accessories thereof
    • B60G7/008Attaching arms to unsprung part of vehicle
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60GVEHICLE SUSPENSION ARRANGEMENTS
    • B60G11/00Resilient suspensions characterised by arrangement, location or kind of springs
    • B60G11/02Resilient suspensions characterised by arrangement, location or kind of springs having leaf springs only
    • B60G11/08Resilient suspensions characterised by arrangement, location or kind of springs having leaf springs only arranged substantially transverse to the longitudinal axis of the vehicle
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D3/00Steering gears
    • B62D3/02Steering gears mechanical
    • B62D3/12Steering gears mechanical of rack-and-pinion type
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D5/00Power-assisted or power-driven steering
    • B62D5/04Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0421Electric motor acting on or near steering gear
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D7/00Steering linkage; Stub axles or their mountings
    • B62D7/18Steering knuckles; King pins
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60GVEHICLE SUSPENSION ARRANGEMENTS
    • B60G2200/00Indexing codes relating to suspension types
    • B60G2200/40Indexing codes relating to the wheels in the suspensions
    • B60G2200/44Indexing codes relating to the wheels in the suspensions steerable
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60GVEHICLE SUSPENSION ARRANGEMENTS
    • B60G2202/00Indexing codes relating to the type of spring, damper or actuator
    • B60G2202/10Type of spring
    • B60G2202/11Leaf spring
    • B60G2202/114Leaf spring transversally arranged

Abstract

The invention discloses a virtual kingpin suspension system penetrating through a wheel center. The special-shaped claw is located above the wheel assembly, the lower end of the special-shaped claw is connected with the wheel assembly, the middle part and the upper part of the special-shaped claw are respectively connected to the vehicle body framework through the lower swing arm and the upper swing arm, the middle part of the special-shaped claw is connected to one side output end part of the EPS steering machine assembly through the electric push rod assembly, and one side end part of the transverse plate spring assembly is connected to the upper swing arm. The invention supports four-wheel independent drive and four-wheel independent steering, realizes the functions of in-situ steering, horizontal transverse movement and parking of the whole vehicle, and realizes ultra-small turning radius during turning, large steering angle, reliable structure and performance and strong expansibility.

Description

Virtual kingpin suspension system through wheel center
Technical Field
The invention relates to the field of new energy automobiles, in particular to a new energy automobile suspension and steering system, and especially relates to a virtual kingpin suspension system penetrating through a wheel center.
Background
At present, with the rapid development of new energy automobiles, pure electric automobiles with different brands appear in China. But the engine is directly replaced by a central motor, and the whole structure and the transmission mode are not changed. Meanwhile, each wheel cannot realize independent steering along the traditional suspension mode and steering mechanism, the turning radius of the vehicle is large, and the operations such as turning and turning around in a narrow area are very difficult.
With the development of in-wheel motor technology, a new energy automobile with distributed driving appears. How to reasonably design a suspension and steering system, so that a hub motor and a suspension and steering mechanism are effectively integrated, the steering angle of wheels is increased, the turning radius of the whole vehicle is reduced, the control flexibility of the whole vehicle is improved, and the problem to be solved is solved currently and urgently.
Disclosure of Invention
In order to solve the problems in the background art, the technical problem to be solved by the invention is to provide a virtual kingpin suspension system penetrating through the wheel center, and a vehicle adopting the suspension system can realize the functions of turning around the whole vehicle in situ and horizontally traversing, and realize ultra-small turning radius during turning.
The invention supports four-wheel independent drive and four-wheel independent steering, the functions can be operated by a whole vehicle control system, and the vehicle can automatically realize the special functions.
In order to realize the intelligent control system of the whole vehicle, the invention adopts the following core technical scheme:
the invention comprises a suspension mechanism arranged between a single wheel assembly and a vehicle body framework, an EPS steering engine assembly and a transverse plate spring assembly, wherein the EPS steering engine assembly and the transverse plate spring assembly are arranged between two wheel assemblies on two sides of the vehicle body framework, the suspension mechanism comprises a special-shaped claw, an upper cross arm, an electric push rod assembly and a lower swing arm, the special-shaped claw is positioned above the wheel assemblies, the lower end of the special-shaped claw is connected with the wheel assemblies, the middle part and the upper part of the special-shaped claw are respectively connected to the vehicle body framework through the lower swing arm and the upper cross arm, the middle part of the special-shaped claw is connected to one side output end part of the EPS steering engine assembly through the electric push rod assembly, and one side end part of the transverse plate spring assembly is connected to the upper cross arm.
The upper cross arm is mainly formed by assembling a cylindrical pin ball head, a swing arm main body and two upper arm bushings, the swing arm main body is in a herringbone shape, the collection end of the herringbone of the swing arm main body is connected with the spherical hinge at the upper end of the special-shaped claw through the cylindrical pin ball head, and the two bifurcation ends of the herringbone of the swing arm main body are hinged with the top of the vehicle body framework in a single-shaft rotation manner through the upper arm bushings; the lower swing arm is mainly formed by assembling a fish-eye type ball head, a welding pipe main body and two lower arm bushings, wherein the welding pipe main body is in a herringbone shape, the collection end of the herringbone of the welding pipe main body is connected with the middle spherical hinge of the special-shaped sheep horn through the fish-eye type ball head, and the two bifurcation ends of the herringbone of the welding pipe main body are hinged with the middle of the car body framework in a single-shaft rotation manner through the lower arm bushings; the cylindrical pin ball head of the upper cross arm is positioned right above the fish-eye ball head of the lower swing arm, the central connecting line of the cylindrical pin ball head and the fish-eye ball head is used as a virtual main pin, and the virtual main pin penetrates through the wheel center of the wheel assembly; in the invention, the virtual kingpin passes through the wheel center structure of the wheel assembly, and compared with the structure without passing through the wheel center structure of the existing suspension structures such as the McPherson suspension, the structure is symmetrical and stable, and can better support and stabilize.
The electric push rod assembly is mainly formed by assembling an electric push rod main body, a displacement sensor, a thread conversion sleeve and a conical pin ball head, wherein the displacement sensor is fixedly connected to the electric push rod main body through a displacement sensor mounting bracket, a probe rod of the displacement sensor is arranged in parallel with a push rod of the electric push rod main body and is fixedly connected with the push rod main body through a displacement sensor driving bracket, the push rod end of the electric push rod main body is fixedly connected with one end of the thread conversion sleeve after extending out, the conical pin ball head is arranged at the other end of the thread conversion sleeve, and the conical pin ball head is in spherical hinge on an L-shaped bracket arranged at the side part of a special-shaped sheep horn; the electric push rod main body is fixedly connected with one of the output ends at two ends of the EPS steering engine assembly through a thread conversion bracket;
the transverse plate spring assembly is mainly formed by assembling a steel plate spring and a lifting lug support, two sides of the middle part of the steel plate spring are horizontally fixed on a vehicle body framework through two plate spring vehicle body fixing supports, the end part of the steel plate spring is a plate spring tail end mounting support, and the plate spring tail end mounting support is hinged with a swing arm main body of an upper cross arm through the lifting lug support.
The transverse plate spring assembly is used for supporting the upper cross arm so as to bear bump and run-out of the wheel assembly.
One end of the lifting lug support is hinged with the mounting support at the tail end of the leaf spring, and the other end of the lifting lug support is hinged to the middle part of the Y-shaped swing arm main body.
The EPS steering engine assembly is mainly formed by assembling a gear-rack steering engine, a universal joint and an EPS driving motor, wherein the EPS driving motor is fixed on a vehicle body framework, an output shaft of the EPS driving motor is connected with an input end of the gear-rack steering engine through the universal joint, and an output end of the gear-rack steering engine.
The special-shaped claw is formed by assembling and connecting a plurality of split brackets, is divided into three Z-shaped sections, the lower end of the upper section is connected with the upper end of the lower section through a horizontal section, the upper section and the lower section are vertical and perpendicular to the horizontal section, the lower section is positioned at the inner side of the wheel assembly and is connected with the wheel assembly, and the upper section is positioned above the wheel assembly after being bent through the horizontal section.
The wheel assembly mainly comprises a tire, a rim and a hub motor, wherein the tire is arranged outside the rim, the hub motor is arranged in the center of the rim, and a stator part of the hub motor is connected to the bottom end of the special-shaped claw.
The transverse plate spring assembly is replaced by a columnar shock absorber which is connected between the vehicle body framework and the upper cross arm.
The suspension system is used for an automobile chassis and can realize four-wheel independent steering.
The automobile chassis realized by the suspension system has two steering control ways, one steering control is carried out through the EPS steering engine assembly, the other steering control is carried out through the electric push rod main body, the front control and the rear control are respectively carried out independently, and the front control and the rear control are respectively aimed at the running state and the stopping state of the automobile and do not exist simultaneously. Namely, when the EPS steering engine assembly works, the electric push rod main body is fixedly locked and does not work; when the electric push rod main body works, the EPS steering gear assembly is fixedly locked and does not work.
In the running state of the automobile, two wheel assemblies at the two sides of the front part/the rear part of the automobile body framework jointly carry out synchronous steering control through an EPS steering gear assembly, so that the running steering of the automobile can be realized.
In the state that the automobile stops and does not run, each wheel assembly carries out steering control through the electric push rod main body, and the in-situ steering and reversing translation running of the automobile can be realized.
The suspension system specially designed by the invention is arranged on the automobile, so that the automobile can be steered in situ, parking and warehousing are convenient, the parking mode is greatly convenient, and the utilization rate of parking space can be improved.
With the adoption of the suspension system, a driver also adopts a control mode of a conventional vehicle to drive the vehicle, and holds the steering wheel, the foot brake pedal and the accelerator pedal. The intelligent control system and the manual control system are integrated schemes, and the driver can actively switch the two systems freely according to the requirements of the driver, so that the control of the whole vehicle is realized.
The suspension system specially designed by the invention is arranged on the automobile, can realize in-situ steering, horizontal transverse movement and parking of the automobile, is convenient for parking and warehousing, greatly facilitates the parking mode and is beneficial to improving the utilization rate of parking space.
The technical scheme provided by the invention has the beneficial effects that:
1. the traditional integrated scheme of suspension, steering and transmission mechanisms can realize the angle change interval of the wheel bundle angle of about-45 degrees to 35 degrees, and the self-developed virtual kingpin suspension system penetrating through the wheel center can realize the steering angle of the wheel bundle angle of-90 degrees to 35 degrees.
2. The traditional suspension, steering and transmission mechanism integration scheme realizes the linkage of left and right wheels through one steering machine, and the independently developed virtual kingpin suspension system penetrating through the wheel center not only has the traditional steering function, but also innovatively designs a single-wheel steering independent control system based on the traditional steering function, wherein the control system of the EPS steering machine assembly 31 supports the traditional steering function; the control system of the electric push rod assembly 6 supports a special steering function, the two control systems are integrated under one suspension system and controlled by the whole vehicle controller, the two systems are not interfered with each other, and the structure and the performance are reliable.
3. The design of virtual kingpin in traditional suspension scheme leads to the inside and outside wearing and tearing state inconsistent of wheel, often is outside heavy wear, and inboard mild wearing and tearing reduce tire life, influence driving safety. The independently developed virtual kingpin suspension system penetrating through the wheel center penetrates through the wheel center point through the structural design, so that the wheel steering friction force is reduced, the power output and part stress of the EPS steering engine assembly 31 and the electric push rod assembly 6 are reduced, energy is saved, and the service lives of parts are prolonged. Meanwhile, the abrasion states of the inner side and the outer side of the tire are almost consistent, and the service life of the tire is prolonged.
4. The structure of the self-developed interface for selecting and matching the special-shaped claw of the virtual king pin suspension system penetrating through the wheel center and the distributed driving motor can support the selection and matching of motors of various types, the platform expansion capacity of the chassis is strong, and the basic research and development cost of platform vehicle types with different power demands is reduced.
5. The virtual kingpin suspension system penetrating through the wheel center, which is independently developed by the invention, can realize four steering functions in special modes.
Drawings
Fig. 1 is a schematic structural view of a suspension system.
Fig. 2 is a schematic view of a partial enlarged structure of fig. 1.
Fig. 3 is a schematic structural view of a special-shaped sheep horn.
Fig. 4 is a schematic structural view of the upper cross arm.
Fig. 5 is a schematic view of the structure of the transverse leaf spring assembly.
Fig. 6 is a schematic structural view of the electric putter assembly.
Fig. 7 is a schematic structural view of the lower swing arm.
Fig. 8 is a schematic structural view of the wheel assembly.
Fig. 9 is a 90 degree angle view of a bicycle wheel under the suspension system of the present invention.
Fig. 10 is a schematic structural view of the EPS steering gear assembly.
Fig. 11 is a schematic view of the chassis platform structure of the suspension system.
Fig. 12 is a normal steering mode operation state diagram.
Fig. 13 is a state diagram of the in-situ steering mode operation.
Fig. 14 is a horizontal movement mode operation state diagram.
Fig. 15 is a parking mode operation state diagram.
In the figure: 1. the special-shaped claw, 3, an upper cross arm, 4, a car body framework, 5, a transverse plate spring assembly, 6, an electric push rod assembly, 7, a lower swing arm, 8, a wheel assembly, 9, a virtual kingpin (a rotation center line formed by connecting upper and lower swing arm ball points); 10. the ball head of the cylindrical pin, 11, the swing arm main body, 12 and the upper arm bushing; 13. the lifting lug support, 14, the steel plate leaf spring, 15, the leaf spring vehicle body fixing support, 16 and the leaf spring tail end mounting support; 17. the device comprises a thread conversion bracket, 18, an electric push rod main body, 19, a displacement sensor, 20, a displacement sensor mounting bracket, 21, a thread conversion sleeve, 22, a displacement sensor driving bracket, 23, a thread conversion sleeve, 24 and a conical pin ball head; 25. 26 parts of fish eye type ball head, 27 parts of welded pipe main body and 27 parts of lower arm bushing; 28. tyre, 29, rim, 30, hub motor; 31. EPS steering gear assembly 32, rack and pinion steering gear, 33, universal joint, 34, EPS drive motor.
Detailed Description
The invention will be described in further detail with reference to the accompanying drawings and specific examples.
The suspension system for the concrete implementation comprises a suspension mechanism arranged between a wheel assembly 8 and a vehicle body framework 4, an EPS steering gear assembly 31 and a transverse plate spring assembly 5 which are arranged between two wheel assemblies 8 on two sides of the front part/the rear part of the vehicle body framework 4, and one wheel assembly 8 is arranged at four corners of the vehicle body framework 4.
As shown in fig. 1 and 2, each suspension mechanism comprises a special-shaped claw 1, an upper cross arm 3, an electric push rod assembly 6 and a lower swing arm 7, wherein the special-shaped claw 1 is positioned above a wheel assembly 8, the lower end of the special-shaped claw 1 is connected with a stator part of an axle hub motor of the wheel assembly 8, the special-shaped claw 1 and the wheel assembly 8 rotate around a virtual main pin 9, the wheel assembly 8 rotates around a shaft of a motor of the wheel assembly 8, the rotating parts are a hub motor rotor, a rim fixedly connected with the rotor and the middle part and the upper part of the special-shaped claw 1 of a tire are respectively connected to a vehicle body framework 4 in parallel through the lower swing arm 7 and the upper cross arm 3, the middle part of the special-shaped claw 1 is connected to one side output end part of an EPS steering engine assembly 31 through the electric push rod assembly 6, and one side end part of a transverse plate spring assembly 5 is connected to the upper cross arm 3. Specifically as shown in fig. 1, the middle part of the special-shaped claw 1 is hinged through one end of a lower swing arm 7, the other end of the lower swing arm 7 is hinged with a rotating shaft of a vehicle body framework 4, the upper part of the special-shaped claw 1 is hinged through one end of an upper cross arm 3, and the other end of the upper cross arm 3 is hinged with the rotating shaft of the vehicle body framework 4.
As shown in fig. 3, the special-shaped sheep horn 1 is formed by assembling and connecting a plurality of split brackets and is in a vertically extending Z shape. The upper section and the lower section are vertical and perpendicular to the horizontal section, the lower section is positioned at the inner side of the wheel assembly 8 and is connected with the wheel assembly 8, and the upper section is positioned above the wheel assembly 8 after being bent through the horizontal section.
As shown in fig. 4, the upper cross arm 3 is mainly formed by assembling a cylindrical pin ball head 10, a swing arm main body 11 and two upper arm bushings 12, the swing arm main body 11 is in a herringbone shape, the collection end of the herringbone shape of the swing arm main body 11 is connected with the upper end spherical hinge of the special-shaped sheep horn 1 through the cylindrical pin ball head 10, and the two bifurcation ends of the herringbone shape of the swing arm main body 11 are hinged with the top of the car body framework 4 in a single-shaft rotation manner through the upper arm bushings 12; the top of the body frame 4 is provided with a horizontal hinge shaft along the body direction/running direction, and two Y-shaped bifurcation ends of the swing arm main body 11 are hinged to the horizontal hinge shaft through an upper arm bushing 12.
As shown in fig. 7, the lower swing arm 7 is mainly assembled by a fish-eye ball 25, a welding pipe main body 26 and two lower arm bushings 27, the welding pipe main body 26 is in a herringbone shape, the welding pipe main body 26 is formed by welding a plurality of pipe fittings, the herringbone collecting end of the welding pipe main body 26 is connected with the middle part of the special-shaped sheep horn 1 through a spherical hinge of the fish-eye ball 25, and the two forked ends of the herringbone of the welding pipe main body 26 are hinged with the middle part of the car body framework 4 through the lower arm bushings 27 in a single-shaft rotation manner; the middle part of the body frame 4 is provided with a horizontal hinge shaft along the direction of the body and the driving direction, and two Y-shaped bifurcation ends of the welding pipe main body 26 are hinged with the horizontal hinge shaft through a lower arm bushing 27.
In specific implementation, as shown in fig. 3, a lug structure is arranged in the middle of the special-shaped claw 1, and the herringbone collecting end of the welded pipe main body 26 is connected to the lug structure through a fish-eye ball 25. The cylindrical pin ball head 10 of the upper cross arm 3 is positioned right above the fish-eye-shaped ball head 25 of the lower swing arm 7, the central connecting line of the cylindrical pin ball head 10 and the fish-eye-shaped ball head 25 is used as a virtual master pin 9, and the virtual master pin 9 penetrates through the wheel center of the wheel assembly 8.
As shown in fig. 6, the electric putter assembly 6 is mainly assembled by an electric putter body 18, a displacement sensor 19, a thread conversion sleeve 23 and a conical pin ball head 24, the displacement sensor 19 is fixedly connected to the electric putter body 18 through a displacement sensor mounting bracket 20, a probe rod of the displacement sensor 19 and a pushrod of the electric putter body 18 are arranged in parallel and fixedly connected through a displacement sensor driving bracket 22, a thread conversion sleeve 21 is arranged at a pushrod output port of the electric putter body 18, a push rod end of the electric putter body 18 extends out of the thread conversion sleeve 21 and is fixedly connected with one end of the thread conversion sleeve 23, the conical pin ball head 24 is mounted at the other end of the thread conversion sleeve 23, and the conical pin ball head 24 is screwed into a threaded hole at the other end of the thread conversion sleeve 23; the side part of the special-shaped sheep horn 1 is provided with an L-shaped bracket, and the conical pin ball head 24 is in spherical hinge with the L-shaped bracket arranged on the side part of the special-shaped sheep horn 1; the opposite end of the push rod end of the electric push rod main body 18 is fixedly connected with one of the output ends of the two ends of the rack and pinion steering gear 32 of the EPS steering gear assembly 31 through the thread conversion bracket 17.
The electric push rod main body 18 operates, the push rod end stretches and contracts to drive the thread conversion sleeve 23 and the probe rod of the displacement sensor 19 to move, and the thread conversion sleeve 23 moves to push the special-shaped claw 1 to rotate around the virtual kingpin 9 through the conical pin ball head 24, so that steering of the wheel assembly 8 is achieved. Further, by controlling the electric push rod main bodies 18 of the respective corresponding suspension mechanisms of the wheel assemblies 8 on the two sides of the vehicle body framework 4, the wheel assemblies 8 on the two sides of the vehicle body framework 4 are respectively steered differently and are not synchronously steered.
As shown in fig. 5, the transverse leaf spring assembly 5 is mainly formed by assembling a steel plate leaf spring 14 and a lifting lug bracket 13, wherein two sides of the middle part of the steel plate leaf spring 14 are horizontally fixed on a vehicle body framework 4 through two leaf spring vehicle body fixing brackets 15, the end part of the steel plate leaf spring 14 is a leaf spring tail end mounting bracket 16, and the leaf spring tail end mounting bracket 16 is hinged with a swing arm main body 11 of the upper cross arm 3 through the lifting lug bracket 13. One end of the lifting lug support 13 is hinged with a plate spring tail end mounting support 16, and the other end of the lifting lug support 13 is hinged to the middle part of the Y-shaped swing arm main body 11.
In specific implementation, the transverse plate spring assembly 5 is further replaced by a columnar shock absorber, the columnar shock absorber comprises a spiral spring and a shock absorber, and the columnar shock absorber is connected between the vehicle body framework 4 and the upper cross arm 3. When the wheel is impacted and jumped in the direction perpendicular to the road surface, the transverse plate spring can effectively play a role in buffering as an elastic element, but the transverse plate spring does not have a damping effect and occupies a large transverse space. The coil spring in the columnar shock absorber can be used as an elastic element to realize the function of a transverse plate spring, and the structure is compact; meanwhile, the shock absorber can inhibit the jump of the spiral spring, absorb the shock generated by the jump, and improve the running smoothness of the vehicle. Compared with a transverse plate spring structure, the columnar shock absorber can utilize smaller whole car arrangement space, not only meets the whole car load demand, but also effectively inhibits the impact of a road on a car body, provides a buffering and shock absorbing function, and improves the travelling comfort of the whole car.
As shown in fig. 10, the EPS steering assembly 31 is mainly assembled by a rack and pinion steering machine 32, a universal joint 33, and an EPS driving motor 34, the EPS driving motor 34 is fixed on the vehicle body frame 4, an output shaft of the EPS driving motor 34 is connected with an input end of the rack and pinion steering machine 32 through the universal joint 33, and an output end of the rack and pinion steering machine 32. The EPS driving motor 34 operates to drive the rack bar in the rack-and-pinion steering gear 32 to move horizontally back and forth between the two wheel assemblies 8 on both sides of the vehicle body frame 4, and further to push the wheel assemblies 8 on both sides to steer synchronously via the electric putter body 18 (which can be regarded as a rigid bar at this time).
As shown in fig. 8, the wheel assembly 8 is mainly assembled by a tire 28, a rim 29 and a hub motor 30, the tire 28 is mounted outside the rim 29, the hub motor 30 is mounted in the center of the rim 29, the stator part of the hub motor 30 is fixedly connected to the bottom end of the special-shaped claw 1, and the rotor part of the hub motor is fixedly connected with the rim 29. When the hub motor 30 operates, the rotor is fixedly connected with the rim 29, and then the wheel formed by the rim 29 and the tire 28 is driven to rotate.
The wheel assembly 8 is connected with a vehicle controller, and the torque and the rotating speed of each motor are controlled in real time in a traction control mode, a torque vector control mode and the like, so that the correctness of the motor rotating direction and the driving torque in different modes is ensured.
The assembly process of each main part in the invention is (the two sides of the frame are bilaterally symmetrical, taking the left side as an example):
1) The cylindrical pin ball head 10 at the herringbone collecting end of the upper cross arm 3 is inserted into a hollow hole formed in the top surface of the special-shaped sheep horn 1, and is laterally fixed and locked with a nut through a bolt, so that the upper cross arm 3 is connected with the upper end spherical hinge of the special-shaped sheep horn 1 through the cylindrical pin ball head 10; two upper arm bushes 12 of the Y-shaped two bifurcation ends of the upper cross arm 3 are arranged on the tops of two vertical supports of the vehicle body framework 4, and are fixedly locked through bolts and nuts, so that the upper cross arm 3 is hinged with the top of the vehicle body framework 4 around a horizontal shaft through the upper arm bushes 12.
2) The fish eye ball head 25 at the herringbone collecting end of the lower cross arm 7 is arranged in a bracket at the middle position of the special-shaped sheep horn 1 and is fixedly locked through a bolt and a nut, so that the lower cross arm 7 is connected with the middle spherical hinge of the special-shaped sheep horn 1 through the fish eye ball head 25; two lower arm bushings 27 at the Y-shaped two bifurcation ends of the lower cross arm 7 are arranged at the middle parts of two vertical brackets of the vehicle body framework 4 and are fixedly locked through bolts and nuts, so that the lower cross arm 7 is hinged with the middle part of the vehicle body framework 4 around a horizontal shaft through the lower arm bushings 27.
3) Two plate spring body fixing brackets 15 of the plate spring assembly 5 are arranged on the body framework 4 and are fixedly locked through bolts and nuts; the two lifting lug brackets 13 of the plate spring assembly 5 are fixed in the brackets on the swing arm main body 11 of the upper swing arm 3 and are fixedly locked through bolts and nuts.
4) The rack and pinion steering gear 32 of the EPS steering gear assembly 31 is arranged on the car body framework 4 and is fixedly locked through bolts and nuts; the EPS driving motor 34 of the EPS steering gear assembly 31 is mounted on the vehicle body frame 4 and is fixedly locked by bolts and nuts.
5) The conical pin ball head 24 of the electric push rod assembly 6 is inserted into a mounting hole formed in an L-shaped bracket at the side part of the special-shaped sheep horn 1, and is fixedly locked through a nut; the screw thread conversion bracket 17 of the electric push rod assembly 6 is arranged on a stud at the tail end of the gear rack steering machine 32 and is fixedly locked by a nut.
As shown in fig. 11, the suspension system of the present invention is provided at four wheels at four corners of the chassis platform, thus forming a distributed drive chassis platform for realizing four-wheel independent steering. The chassis platform has two steering control working modes under working, one steering control is carried out through the EPS steering engine assembly 31, the other steering control is carried out through the electric push rod main body 18, the front control and the rear control are respectively carried out independently, and the front control and the rear control are respectively aiming at the running state and the stopping state of the automobile and do not exist simultaneously. Namely, when the EPS steering gear assembly 31 works, the electric push rod main body 18 is fixedly locked and does not work; when the electric putter body 18 is operated, the EPS steering gear assembly 31 is fixedly locked and does not operate.
In the running state of the vehicle, the two wheel assemblies 8 on both sides of the front/rear portion of the body frame 4 are jointly subjected to synchronous steering control by one EPS steering machine assembly 31, so that the steering of the running of the vehicle can be realized.
In the vehicle stop state, each wheel assembly 8 is controlled in steering by the respective electric push rod main body 18, so that the in-situ steering and reversing translational running of the vehicle can be realized.
The principle processes of the two specific working modes are as follows:
1. in the running state of the automobile, the EPS steering gear assembly 31 controls the system operation mode:
the whole vehicle controller inputs and controls the EPS driving motor 34 to generate steering power-assisted torque with determined size and direction, the torque is transmitted to the universal joint 33, the universal joint 33 drives the rack-and-pinion steering machine 32, the rack mechanism in the rack-and-pinion steering machine 32 realizes transverse sliding, and the output pushes the special-shaped claw 1 to rotate around the virtual master pin 9 through the electric push rod assembly 6, so that the two wheel assemblies 8 on two sides of the vehicle body framework 4 are pushed to horizontally move back and forth. Specifically, the conical pin ball head 24 of the electric push rod assembly 6 pulls/pushes the special-shaped claw 1, the special-shaped claw 1 rotates around the virtual master pin 9, and the special-shaped claw 1 drives the wheel assembly to rotate, so that the wheel steering is realized.
In this mode, the electric putter assembly 6 is not in operation and the electric putter body 18 is in a self-locking state, so that the overall size of the electric putter assembly 6 is not changed, and the current function is a rod with a fixed length.
2. Under the automobile stopping state, the electric push rod assembly 6 control system:
the whole car controller inputs and controls the electric putter main part 18, and the motor in the electric putter main part 18 will drive the push rod of electric putter main part 18 itself to stretch out or retract, realizes the extension or the shortening of the whole size of electric putter assembly 6, and the conical pin bulb 24 of electric putter assembly 6 will pull dysmorphism sheep horn 1, and dysmorphism sheep horn 1 will rotate with virtual king pin 9, and dysmorphism sheep horn 1 drives the wheel assembly again and rotates, realizes the wheel and turns to.
The displacement sensor 19 detects the amount of displacement of the push rod for extension or retraction, and monitors whether the amount of expansion and contraction of the electric push rod body 18 reaches a target value input by the central controller. If not, the telescoping amount of the electric putter body 18 is taught to be in accordance with the target value based on the monitored value provided by the displacement sensor 19.
In this operation mode, the EPS driving motor in the EPS steering gear assembly 31 is in a self-locking state and in a zero position, and the rack inside the rack-and-pinion steering gear 32 is not movable without any rotation angle.
In the 2 nd working mode, the chassis platform of the invention adopts a brand new design of suspension and steering system, so that each wheel can realize independent and noninterference steering, and the chassis platform comprises a common steering mode with rear wheel follow-up steering, an in-situ steering mode, a horizontal traversing mode and a parking mode.
A. Ordinary steering mode with rear wheel follow-up steering
As shown in fig. 12, the two wheel assemblies 8 on both sides of the front portion of the frame 4 rotate leftward (the rotation angles may be different), and the two wheel assemblies 8 on both sides of the rear portion of the frame 4 rotate rightward (the rotation angles may be different), at this time, the four wheels rotate around a point on the left side of the vehicle body as a center of a circle, so that a normal steering function is realized.
The front side of the vehicle is arranged, the electric push rod control system is always not operated in the mode, and the front and rear EPS motor modules complete the execution action of the whole steering.
When the demand corner signal is transmitted to the whole vehicle controller, the processed signal is transmitted to the EPS controller, the EPS controller controls the EPS motor to work, and the EPS motor stops working after reaching the target corner according to the corner signal fed back in real time by the corner sensor arranged on the EPS motor module. At this moment, the output rotation angle of the motor is transmitted to the input shaft of the steering gear through the universal joint, the input shaft rotates, and the steering gear is in a rack-and-pinion structure, so that the rotating pair is converted into the translational pair by the rack-and-pinion steering gear, the input angle of the input shaft changes, the displacement variable is output by the rack, the special-shaped steering knuckle and the wheels are driven by the steering pull rod to rotate around the virtual kingpin to realize steering action, and the front wheel steering function under the common mode is realized.
The mode also has a rear wheel follow-up steering function, and the rotation angle signal is processed by the whole vehicle controller and then outputs a new signal to the rear wheel EPS controller. Assuming that the front wheel needs to turn left, the front wheel EPS motor controls the front wheel steering gear rack to move rightwards to realize left turning, and at the moment, the rear wheel EPS motor controls the rear wheel steering gear rack to move rightwards to realize a follow-up steering function after receiving a signal.
B. In-situ steering mode
As shown in fig. 13, the two wheel assemblies 8 at the front left and the rear right of the frame 4 rotate rightward, and the two wheel assemblies 8 at the front left and the front right of the frame 4 rotate leftward, and at this time, the four wheels rotate around a point at the center of the vehicle body as a center of a circle, thereby realizing the in-situ steering function.
The front wheel and the rear wheel are arranged right in front of the vehicle, and before entering the mode, the front wheel and the rear wheel are at straight-going positions, and the EPS rotation angle sensor is at a zero marking position. Meanwhile, in the mode, the EPS motor cannot execute other actions and is always in the zero marking position. In this mode, the extension of the electric putter assembly is achieved by controlling the putter motor.
When the in-situ steering function is started, after the vehicle controller VCU obtains a target rotation angle, the four push rod motors synchronously start to work, and the electric push rod stretching action is executed. When the controller detects that the signal output by the sensor meets the required elongation, the corresponding push rod motor stops working and locks the mechanism. At this time, the four wheels are tangent to the same circle, and the center of the circle is the midpoint of the connecting line of the central points of the front and rear shafts. And then the driving motor controls the four wheels to rotate with corresponding torque and rotation direction, and when the rotation angle reaches the target rotation angle, the braking action is executed, and the vehicle is stopped.
C. Horizontal traversing mode
As shown in fig. 14, the front, rear, left and right wheel assemblies 8 of the frame 4 are rotated to be perpendicular to the original normal running direction, and at this time, the four wheels horizontally and transversely move along the direction perpendicular to the length direction of the vehicle body, so as to realize the horizontal transverse movement function.
The front wheel and the rear wheel are arranged right in front of the vehicle, and before entering the mode, the front wheel and the rear wheel are at straight-going positions, and the EPS rotation angle sensor is at zero standard positions. Meanwhile, in the mode, the EPS motor cannot execute other actions and is always in the zero marking position. In this mode, the extension of the electric putter assembly is achieved by controlling the putter motor.
When the horizontal traversing function is started, after the vehicle controller VCU obtains the direction signal, the four push rod motors synchronously start to work, and the electric push rod stretching action is executed. When the controller detects that the signal output by the sensor meets the required elongation, the corresponding push rod motor stops working and locks the mechanism. At this time, the four wheels are rotated 90 degrees relative to the initial state and are in the horizontal position. And then the driving motor controls the four wheels to rotate with corresponding torque and rotation direction, and when the platform horizontally moves to reach the target position, the braking action is executed, and the vehicle is stopped.
D. Parking mode
As shown in fig. 15, the two wheel assemblies 8 at the front left and the rear right of the frame 4 rotate leftward, and the two wheel assemblies 8 at the front left and the front right of the frame 4 rotate rightward, so that all the four wheels cannot rotate in the radial direction, and the parking function is realized.
The front wheel and the rear wheel are arranged right in front of the vehicle, and before entering the mode, the front wheel and the rear wheel are at straight-going positions, and the EPS rotation angle sensor is at zero standard positions. Meanwhile, in the mode, the EPS motor cannot execute other actions and is always in the zero marking position. In this mode, shortening of the electric putter assembly is achieved by controlling the putter motor.
When the parking function is started, after the whole vehicle controller VCU obtains a control signal, the four push rod motors synchronously start to work, and the shortening action of the electric push rod is executed. When the controller detects that the signal output by the sensor meets the required shortening amount, the corresponding push rod motor stops working and locks the mechanism. When the execution of this mode is completed, the mechanical lock is formed at the mechanism position of the four wheels, and the vehicle cannot move in place.
Therefore, the technical scheme of the invention realizes the steering function of four special modes, has a larger steering angle than the traditional steering system, and takes the left front wheel toe angle as an example, the steering angle range is-90 degrees to 35 degrees, wherein-35 degrees to 35 degrees meet the steering requirement of the common mode, and-90 degrees to-35 degrees meet the in-situ steering and horizontal transverse movement modes.

Claims (5)

1. A virtual kingpin suspension system through a wheel center, characterized by: the special-shaped claw comprises a suspension mechanism arranged between a single wheel assembly (8) and a vehicle body framework (4), an EPS steering engine assembly (31) and a transverse plate spring assembly (5) arranged between two wheel assemblies (8) on two sides of the vehicle body framework (4), wherein the suspension mechanism comprises a special-shaped claw (1), an upper cross arm (3), an electric push rod assembly (6) and a lower swing arm (7), the special-shaped claw (1) is positioned above the wheel assembly (8), the lower end of the special-shaped claw (1) is connected with the wheel assembly (8), the middle part and the upper part of the special-shaped claw (1) are respectively connected to the vehicle body framework (4) through the lower swing arm (7) and the upper cross arm (3), the middle part of the special-shaped claw (1) is connected to one side output end part of the EPS steering engine assembly (31) through the electric push rod assembly (6), and one side end part of the transverse plate spring assembly (5) is connected to the upper cross arm (3);
the upper cross arm (3) is mainly formed by assembling a cylindrical pin ball head (10), a swing arm main body (11) and two upper arm bushings (12), the swing arm main body (11) is in a herringbone shape, the collection end of the herringbone shape of the swing arm main body (11) is connected with the upper end of the special-shaped sheep horn (1) through the cylindrical pin ball head (10) in a ball hinge manner, and the two bifurcation ends of the herringbone shape of the swing arm main body (11) are hinged with the top of the car body framework (4) in a single-shaft rotation manner through the upper arm bushings (12);
the lower swing arm (7) is mainly formed by assembling a fish-eye ball head (25), a welding pipe main body (26) and two lower arm bushings (27), the welding pipe main body (26) is in a herringbone shape, the herringbone collecting end of the welding pipe main body (26) is connected with the middle spherical hinge of the special-shaped sheep horn (1) through the fish-eye ball head (25), and the two forked ends of the herringbone welding pipe main body (26) are hinged with the middle of the car body framework (4) through single-shaft rotation of the lower arm bushings (27); the cylindrical pin ball head (10) of the upper cross arm (3) is positioned right above the fish eye ball head (25) of the lower swing arm (7), a central connecting line of the cylindrical pin ball head (10) and the fish eye ball head (25) is used as a virtual main pin (9), the virtual main pin (9) penetrates through the wheel center of the wheel assembly (8), and the special-shaped sheep horn (1) and the wheel assembly (8) rotate around the virtual main pin (9);
the electric push rod assembly (6) is mainly formed by assembling an electric push rod main body (18), a displacement sensor (19), a thread conversion sleeve (23) and a conical pin ball head (24), wherein the displacement sensor (19) is fixedly connected to the electric push rod main body (18) through a displacement sensor mounting bracket (20), a probe rod of the displacement sensor (19) and a push rod of the electric push rod main body (18) are arranged in parallel and fixedly connected through a displacement sensor driving bracket (22), a push rod end of the electric push rod main body (18) is fixedly connected with one end of the thread conversion sleeve (23) after extending out, the other end of the thread conversion sleeve (23) is provided with the conical pin ball head (24), and the conical pin ball head (24) is in spherical hinge on an L-shaped bracket arranged on the side part of the special-shaped sheep horn (1); the electric push rod main body (18) is fixedly connected with one of the output ends of the two ends of the EPS steering gear assembly (31) through a thread conversion bracket (17);
the transverse plate spring assembly (5) is mainly formed by assembling a plate spring (14) and a lifting lug support (13), two sides of the middle part of the plate spring (14) are horizontally fixed on a vehicle body framework (4) through two plate spring vehicle body fixing supports (15), the end part of the plate spring (14) is a plate spring tail end mounting support (16), and the plate spring tail end mounting support (16) is hinged with a swing arm main body (11) of the upper cross arm (3) through the lifting lug support (13);
one end of the lifting lug support (13) is hinged with the plate spring tail end mounting support (16), and the other end of the lifting lug support (13) is hinged to the Y-shaped middle part of the swing arm main body (11);
the special-shaped claw (1) is formed by assembling and connecting a plurality of split brackets, and is divided into three Z-shaped sections, wherein the lower end of an upper section is connected with the upper end of a lower section through a horizontal section, the upper section and the lower section are vertical and perpendicular to the horizontal section, the lower section is positioned at the inner side of a wheel assembly (8) and is connected with the wheel assembly (8), and the upper section is positioned above the wheel assembly (8) after being bent through the horizontal section;
in the running state of the automobile, two wheel assemblies (8) at the front part or at the two sides of the rear part of the automobile body framework (4) are jointly subjected to synchronous steering control through an EPS steering gear assembly (31);
in a vehicle stopped state, each wheel assembly (8) is controlled in steering by a respective electric putter body (18).
2. The virtual king pin suspension system through the wheel center of claim 1 wherein:
the EPS steering engine assembly (31) is mainly formed by assembling a gear rack steering engine (32), a universal joint (33) and an EPS driving motor (34), wherein the EPS driving motor (34) is fixed on a vehicle body framework (4), an output shaft of the EPS driving motor (34) is connected with an input end of the gear rack steering engine (32) through the universal joint (33), and an output end of the gear rack steering engine (32) is connected with a thread conversion bracket (17).
3. The virtual king pin suspension system through the wheel center of claim 1 wherein:
the wheel assembly (8) is mainly formed by assembling a tire (28), a rim (29) and a hub motor (30), the tire (28) is arranged outside the rim (29), the hub motor (30) is arranged in the center of the rim (29), and a stator part of the hub motor (30) is connected to the bottom end of the special-shaped claw (1).
4. The virtual king pin suspension system through the wheel center of claim 1 wherein: the transverse plate spring assembly (5) is replaced by a columnar shock absorber which is connected between the vehicle body framework (4) and the upper cross arm (3).
5. A virtual king pin suspension system through the wheel center according to any one of claims 1-4 wherein: the suspension system is used for an automobile chassis and can realize four-wheel independent steering.
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