CN110091917A - Hub motor electric vehicle with four-wheel independent steering function - Google Patents
Hub motor electric vehicle with four-wheel independent steering function Download PDFInfo
- Publication number
- CN110091917A CN110091917A CN201910278205.9A CN201910278205A CN110091917A CN 110091917 A CN110091917 A CN 110091917A CN 201910278205 A CN201910278205 A CN 201910278205A CN 110091917 A CN110091917 A CN 110091917A
- Authority
- CN
- China
- Prior art keywords
- wheel
- steering
- vehicle frame
- gear
- knuckle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0418—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
- B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
- B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
-
- 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
- B62D7/16—Arrangement of linkage connections
Abstract
The present invention provides a kind of hub motor electric vehicle with four-wheel independent steering function, the knuckle of each wheel is fixedly mounted in wheel motor shaft, it is characterized in that: compared with existing vehicle, two lower swing arms of vehicle frame the same side and the connection end point of vehicle frame move horizontally in opposite directions；Each wheel increases the identical independent steering gear of a nested structure, specifically includes steering motor, shaft coupling, turbine and worm retarder, gear shaft, rack gear, steering linkage and brake, and middle rack is consistent with the longitudinal direction of vehicle；The output end of steering motor connects the input terminal of turbine and worm retarder through shaft coupling, the output end of turbine and worm retarder and one end of gear shaft are through being keyed, the other end of gear shaft is engaged with the rear end of rack gear, through pin connection, the other end of steering linkage is connect through ball pin with knuckle for the front end of rack gear and one end of steering linkage.The present invention can realize the pivot stud and cross running of vehicle on the basis of realizing single wheel wide-angle deflection.
Description
Technical field
The present invention relates to a kind of hub motor electric vehicles with four-wheel independent steering function, belong to automobile technical field.
Background technique
With the rapid development of economy, the progress of technology, the quantity of vehicle is growing day by day in city, but the space in city
It is limited, it is increasingly crowded which results in urban transportations, in this case, has to the requirement on flexibility of vehicle and significantly mentions
It is high；For example turned around with the realization of very small turning radius, vehicle is stopped into narrow space, or realize rapid lane change；?
It is corresponding as described above to be: pivot stud, cross running, oblique traveling.
Currently employed four-wheel steering technology improves to the flexibility of vehicle, but cannot achieve original place substantially
It turns to, cross running.Current four-wheel steering technology substantially there are three types of: mechanical four-wheel steering system, fluid pressure type four-wheel steering system
System, electrodynamic type four-wheel steering system.Mechanical four-wheel steering system structure is complex, and number of parts is more, and before having perforation
Transmission shaft afterwards；The rear-wheel maximum deflection angle of fluid pressure type four-wheel steering system is smaller, reduces to automobile minimum turning radius limited；
Two axis are equipped with assist motor before and after electrodynamic type four-wheel steering system, and two between centers, without mechanically contact, structure is simple, is able to achieve essence
Really control；But two sides wheel still has mechanical connection, so also cannot achieve pivot stud and cross running.
Summary of the invention
It is an object of that present invention to provide it is a kind of can overcome drawbacks described above, can be achieved single wheel wide-angle deflection have four
Take turns the hub motor electric vehicle of independent steering function.Its technical solution are as follows:
A kind of hub motor electric vehicle with four-wheel independent steering function is equipped with hub motor including vehicle frame and inside
Wheel, each wheel are provided with damper, knuckle and lower swing arm, and wherein knuckle is fixedly mounted in wheel motor shaft, under
One end of swing arm and knuckle are connected through ball pin, and the another both ends of lower swing arm are sold respectively to be connect with vehicle frame, the bottom of damper with
Knuckle is fixedly connected, and feature has:
Compared with existing vehicle, under the premise of the spacing between knuckle and vehicle frame is constant, to cross vehicle frame the same side two
The Normal plane at line midpoint is the plane of symmetry between knuckle, and survey endpoint location is constant in the connection of two lower swing arms and vehicle frame,
Outside two-end-point moves horizontally in opposite directions, and two endpoints on the outermost side move inward, until their position is pacified in wheel
Axis is filled in the region on vehicle frame between subpoint, the lower swing arm installation point and wheel mounting axis of each wheel are on vehicle frame
Spacing of the subpoint on vehicle frame longitudinal direction is d=0.2L, L spacing between knuckle and vehicle frame, unit mm.
The identical independent steering gear of a nested structure is increased for each wheel, is with a set of independent steering gear
Example: including steering motor, shaft coupling, turbine and worm retarder, gear shaft, rack gear, steering linkage and brake, middle rack with
The longitudinal direction of vehicle is consistent；The output end of steering motor connects the input terminal of turbine and worm retarder, turbine and worm through shaft coupling
The output end of retarder and one end of gear shaft are through being keyed, and the other end of gear shaft is engaged with the rear end of rack gear, before rack gear
Through pin connection, the other end of steering linkage is connect through ball pin with knuckle for end and one end of steering linkage；
Brake includes brake activation lever, shell, caliper, brake disc and electromagnetic switch, and wherein shell is fixedly mounted on
On the shell of turbine and worm retarder, caliper, brake disc, shaft coupling are mounted in shell, and electromagnetic switch is fixed on turbine snail
On the shell of bar retarder；Brake disc is fixedly set on shaft coupling, and caliper is arc-shaped, and clamping on the disc brake rotor, is braked
One end of pincers is fixedly connected with the casing, and is sold and is mounted on the shell of turbine and worm retarder in the middle part of brake activation lever, braking
The other end of pincers is sold to be connect with one end of brake activation lever, and the other end of brake activation lever is through pin joint electromagnetic switch.
Its working principle is that: in the design, brake is constantly in damped condition when steering motor does not work, braking
On the disc brake rotor, brake disc is remain stationary for pincers clamping.When turning to, brake controls caliper by electromagnetic switch and decontrols system
It is dynamic, realize the function that wheel keeps straight trip, the steering deflection angle for maintaining when turning to wheel in straight trip.
The transfer route of power when steering are as follows: steering motor output power, successively through shaft coupling and turbine and worm retarder
Gear shaft is passed to, rack gear is imparted power to by gear shaft, band carry-over bar moves forward or backward, and rack gear is driven by pin
Steering linkage rotates around pin, while steering linkage pulls knuckle to rotate around stub by ball pin, due to turning to
Section is fixedly mounted in the wheel motor shaft of hub motor, and wheel deflects therewith.
Deflect to 42 ° of wheel steering locking angle clockwise to wheel, specific implementation detailed rules and regulations are to decontrol caliper, and starting turns
The rotation of turbine and worm retarder is driven to motor, exports revolving speed to gear shaft to reduce, power is transmitted to rack-and-pinion by gear shaft,
Band carry-over bar travels forward, then diverted pull rod passes motion to knuckle, rotates wheel around stub, realizes and turns to.
Deflect to 90 ° of wheel steering locking angle counterclockwise to wheel, specific implementation detailed rules and regulations are same as above, and are simply diverted to motor
Steering changes, and keeps subsequent each mechanism kinematic contrary.
Compared with prior art, the present invention having the following advantages:
1. being only modified to the structure of lower swing arm, under the premise of realizing that vehicle wide-angle turns to the knot of vehicle
Structure modification is smaller；
2. the transmission mechanism arranged on wheel is few, have very great help to vehicle unsprung mass is reduced；
3. conventional steering mechanism with the side length for using the time, can be worn between each part of steering mechanism, make a part
Fit clearance becomes larger, so that influencing wheel obtains positional parameter, in this steering mechanism, steering motor cooperates steering system brake can
Flexibly to realize the modification to wheel alignment parameter, enable wheel always in optimum state；
4. movable parts are less compared to tradition machinery formula steering mechanism, the probability of failure appearance can be reduced；
5. the vehicle using In-wheel motor driving for the other types of suspensions for removing McPherson suspension can be used since structure is simple
The wheel of wheel or drive axle-free turns.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the embodiment of the present invention；
Fig. 2 is knuckle and independent steering gear, lower swing arm, damper and hub motor wheel hub in embodiment illustrated in fig. 1
The axis side view of motor axis connection；
Fig. 3 is the structural schematic diagram of part A amplification in embodiment illustrated in fig. 2；
Fig. 4 is the Structure explosion diagram of brake shown in Fig. 3；
Fig. 5 is the relative position figure of steering mechanism and wheel when vehicle of the present invention is kept straight on；
Fig. 6 is the relative position figure that wheel of the present invention deflects into 42 ° of steering mechanism of ultimate angle and wheel clockwise；
Fig. 7 is the relative position figure that wheel of the present invention deflects into 90 ° of steering mechanism of ultimate angle and wheel counterclockwise.
In figure: 1, vehicle frame 2, wheel 3, damper 4, knuckle 5, lower swing arm 6, wheel motor shaft 7, ball pin 8,
Steering motor 9, shaft coupling 10, turbine and worm retarder 11, gear shaft 12, rack gear 13, steering linkage 14, braking maneuver
Bar 15, shell 16, caliper 17, brake disc 18, electromagnetic switch 19, pin 20, stub
Specific implementation
Technical solution of the present invention is described further with reference to the accompanying drawing.In Fig. 1-7 the embodiment described, knuckle
Spacing is 260mm between 4 and vehicle frame 1, defines the hinge joint that stub 20 is installation point and knuckle 4 and lower swing arm 5 on damper 3
Line.
Inside is equipped on each wheel 2 of hub motor and is provided with damper 3, knuckle 4 and lower swing arm 5, wherein turning to
Section 4 is fixedly mounted in the wheel motor shaft 6 of hub motor, and one end of lower swing arm 5 is connect with knuckle 4 through ball pin 7, lower swing arm
5 another both ends are sold 19 respectively and are connect with vehicle frame 1, and the bottom of damper 3 is fixedly connected with knuckle 4.
Compared with existing vehicle, under the premise of the spacing between knuckle and vehicle frame is constant, to cross vehicle frame the same side two
The Normal plane at line midpoint is the plane of symmetry between knuckle, and survey endpoint location is constant in the connection of two lower swing arms and vehicle frame,
Outside two-end-point moves horizontally in opposite directions, and two endpoints on the outermost side move inward, until their position is pacified in wheel
Axis is filled in the region on vehicle frame between subpoint, the lower swing arm installation point and wheel mounting axis of each wheel are on vehicle frame
Spacing of the subpoint on vehicle frame longitudinal direction is d=0.2*260=52mm.
The identical independent steering gear of a nested structure is increased for each wheel 2, is with a set of independent steering gear
Example: including steering motor 8, shaft coupling 9, turbine and worm retarder 10, gear shaft 11, rack gear 12, steering linkage 13 and brake,
Its middle rack 12 is consistent with the longitudinal direction of vehicle；The output end of steering motor 8 connects turbine and worm retarder 10 through shaft coupling 9
Input terminal, the output end of turbine and worm retarder 10 and one end of gear shaft 11 are through being keyed, the other end and tooth of gear shaft 11
The rear end of item 12 is engaged, and 19 connections, the other end warp of steering linkage 13 are sold in the front end of rack gear 12 and one end of steering linkage 13
Ball pin 7 is connect with knuckle 4；
Brake includes brake activation lever 14, shell 15, caliper 16, brake disc 17 and electromagnetic switch 18, wherein shell
15 are fixedly mounted on the shell of turbine and worm retarder 10, and caliper 16, brake disc 17, shaft coupling 9 are mounted in shell 15,
Electromagnetic switch 18 is fixed on the shell of turbine and worm retarder 10；Brake disc 17 is fixedly set on shaft coupling 9, caliper 16
It is arc-shaped, is clamped in brake disc 17, one end of caliper 16 is fixedly connected with shell 15, the middle part warp of brake activation lever 14
Pin 19 is mounted on the shell of turbine and worm retarder 10, and the other end of caliper 16 sells one end of 19 Yu brake activation lever 14
Connection, the other end of brake activation lever 14 sell 19 and connect electromagnetic switch 18.
Claims (1)
1. a kind of hub motor electric vehicle with four-wheel independent steering function, including vehicle frame (1) and inside are equipped with hub motor
Wheel (2), each wheel (2) is provided with damper (3), knuckle (4) and lower swing arm (5), wherein the fixed peace of knuckle (4)
On wheel motor shaft (6), one end of lower swing arm (5) is connect with knuckle (4) through ball pin (7), the another both ends of lower swing arm (5)
It sells (19) respectively to connect with vehicle frame (1), the bottom of damper (3) is fixedly connected with knuckle (4), it is characterised in that:
Compared with existing vehicle, under the premise of the spacing between knuckle (4) and vehicle frame (1) is constant, to cross vehicle frame (1) the same side
The Normal plane at line midpoint is the plane of symmetry between two knuckles (4), is surveyed in the connection of two lower swing arms (5) and vehicle frame (1)
Endpoint location is constant, and outside two-end-point moves horizontally in opposite directions, and two endpoints on the outermost side move inward, until they
In wheel (2) mounting axis in region on vehicle frame (1) between subpoint, the lower swing arm (5) of each wheel (2) is installed for position
Spacing of the subpoint on vehicle frame (1) longitudinal direction on vehicle frame (1) is d=0.2L to point with wheel (2) mounting axis, and L is to turn
Spacing between Xiang Jie (4) and vehicle frame (1), unit mm.
The identical independent steering gear of a nested structure is increased for each wheel (2), by taking a set of independent steering gear as an example:
Including steering motor (8), shaft coupling (9), turbine and worm retarder (10), gear shaft (11), rack gear (12), steering linkage (13)
And brake, middle rack (12) are consistent with the longitudinal direction of vehicle；The output end of steering motor (8) connects whirlpool through shaft coupling (9)
One end of the input terminal of worm and gear retarder (10), the output end and gear shaft (11) of turbine and worm retarder (10) connects through key
It connects, the other end of gear shaft (11) is engaged with the rear end of rack gear (12), the front end of rack gear (12) and the one end of steering linkage (13)
(19) connection is sold, the other end of steering linkage (13) is connect through ball pin (7) with knuckle (4)；
Brake includes brake activation lever (14), shell (15), caliper (16), brake disc (17) and electromagnetic switch (18),
Middle shell (15) is fixedly mounted on the shell of turbine and worm retarder (10), caliper (16), brake disc (17), shaft coupling
(9) it is mounted in shell (15), electromagnetic switch (18) is fixed on the shell of turbine and worm retarder (10)；Brake disc (17) is solid
Surely be sleeved on shaft coupling (9), caliper (16) is arc-shaped, be clamped on brake disc (17), one end of caliper (16) with
Shell (15) is fixedly connected, and the shell that (19) are mounted on turbine and worm retarder (10) is sold in the middle part of brake activation lever (14)
On, the other end of caliper (16) is sold (19) and is connect with one end of brake activation lever (14), brake activation lever (14) it is another
It sells (19) and connects electromagnetic switch (18) in end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910278205.9A CN110091917A (en) | 2019-04-09 | 2019-04-09 | Hub motor electric vehicle with four-wheel independent steering function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910278205.9A CN110091917A (en) | 2019-04-09 | 2019-04-09 | Hub motor electric vehicle with four-wheel independent steering function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110091917A true CN110091917A (en) | 2019-08-06 |
Family
ID=67444551
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910278205.9A Pending CN110091917A (en) | 2019-04-09 | 2019-04-09 | Hub motor electric vehicle with four-wheel independent steering function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110091917A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112249157A (en) * | 2020-09-15 | 2021-01-22 | 北京理工大学 | Ackerman steering independent suspension steering system, vehicle and power assembly system |
| CN112498472A (en) * | 2020-12-10 | 2021-03-16 | 航天科工智能机器人有限责任公司 | Modularized wheel type unmanned platform steering system |
| CN117048695A (en) * | 2023-08-09 | 2023-11-14 | 杭州世宝汽车方向机有限公司 | Independent wheel steering device and control method thereof |
Citations (5)
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|---|---|---|---|---|
| FR2591986A1 (en) * | 1985-12-20 | 1987-06-26 | Renault | Steering linkage gear with a rack and control rods combined with a linking device, especially for wheels with elastic suspension struts |
| CN104773200A (en) * | 2014-05-22 | 2015-07-15 | 西南交通大学 | Hub motor-based electric automobile omni-directional steering system |
| CN205417753U (en) * | 2016-03-22 | 2016-08-03 | 东莞市亚美精密机械配件有限公司 | Moving platform of AGV robot and wheel driving mechanism thereof |
| CN108167354A (en) * | 2017-12-27 | 2018-06-15 | 大庆市天德忠石油科技有限公司 | Brake gear assembly on beam pumping unit |
| CN108995711A (en) * | 2018-07-09 | 2018-12-14 | 北京理工大学 | A kind of all-wheel steering motorized vehicle chassis independently driven |
-
2019
- 2019-04-09 CN CN201910278205.9A patent/CN110091917A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2591986A1 (en) * | 1985-12-20 | 1987-06-26 | Renault | Steering linkage gear with a rack and control rods combined with a linking device, especially for wheels with elastic suspension struts |
| CN104773200A (en) * | 2014-05-22 | 2015-07-15 | 西南交通大学 | Hub motor-based electric automobile omni-directional steering system |
| CN205417753U (en) * | 2016-03-22 | 2016-08-03 | 东莞市亚美精密机械配件有限公司 | Moving platform of AGV robot and wheel driving mechanism thereof |
| CN108167354A (en) * | 2017-12-27 | 2018-06-15 | 大庆市天德忠石油科技有限公司 | Brake gear assembly on beam pumping unit |
| CN108995711A (en) * | 2018-07-09 | 2018-12-14 | 北京理工大学 | A kind of all-wheel steering motorized vehicle chassis independently driven |
Non-Patent Citations (1)
| Title |
|---|
| 曾钧: "4WD轮毂电机电动车四轮独立转向机构设计", 《中国优秀硕士学位论文全文数据库 工程科技Ⅱ辑》 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112249157A (en) * | 2020-09-15 | 2021-01-22 | 北京理工大学 | Ackerman steering independent suspension steering system, vehicle and power assembly system |
| CN112498472A (en) * | 2020-12-10 | 2021-03-16 | 航天科工智能机器人有限责任公司 | Modularized wheel type unmanned platform steering system |
| CN117048695A (en) * | 2023-08-09 | 2023-11-14 | 杭州世宝汽车方向机有限公司 | Independent wheel steering device and control method thereof |
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20190806 |
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| WD01 | Invention patent application deemed withdrawn after publication |