CN110103641B - Motor vehicle wheel track adjusting mechanism and control method thereof - Google Patents
Motor vehicle wheel track adjusting mechanism and control method thereof Download PDFInfo
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- CN110103641B CN110103641B CN201910416141.4A CN201910416141A CN110103641B CN 110103641 B CN110103641 B CN 110103641B CN 201910416141 A CN201910416141 A CN 201910416141A CN 110103641 B CN110103641 B CN 110103641B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B35/00—Axle units; Parts thereof ; Arrangements for lubrication of axles
- B60B35/02—Dead axles, i.e. not transmitting torque
- B60B35/10—Dead axles, i.e. not transmitting torque adjustable for varying track
- B60B35/1036—Dead axles, i.e. not transmitting torque adjustable for varying track operated with power assistance
- B60B35/1045—Dead axles, i.e. not transmitting torque adjustable for varying track operated with power assistance electrically
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- Mechanical Engineering (AREA)
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- Steering Control In Accordance With Driving Conditions (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
Abstract
The invention discloses a motor vehicle wheel tread adjusting mechanism, which comprises a frame and is characterized in that: the wheel track adjusting mechanism is characterized in that a wheel track adjusting motor is mounted at the center of a frame, the wheel track adjusting motor is a double-output shaft, a reduction box R and a reduction box L are mounted at two ends of the wheel track adjusting motor respectively, the reduction box is a double-output shaft worm gear mechanism, one of output shafts of the reduction boxes is provided with an encoder B, the output shafts of the reduction boxes are connected with the rear ends of screw and nut mechanisms respectively through universal joints, the front ends of the 4 screw and nut mechanisms are mounted at 4 corners of the frame respectively, each screw and nut mechanism is provided with a telescopic frame, steering actuating mechanisms are mounted at the front ends of the 4 telescopic frames respectively, wheels are mounted on the steering actuating mechanisms, wheel driving motors are further mounted on the steering actuating mechanisms. The invention has the characteristics of simple structure, reasonable design, wide application, strong practicability and the like.
Description
Technical Field
The invention relates to a wheel track adjusting mechanism, in particular to a motor vehicle wheel track adjusting mechanism and a control method thereof.
Background
The existing wheel track adjusting mechanism of the motor vehicle adopts the manual work to move the wheels outwards or inwards to increase or reduce the width of the wheel track, and also adopts the screw rod or electric push rod mode to adjust the wheel track, but most of the wheel track adjusting mechanism only adjusts the width of the wheel track between the left wheel and the right wheel of the motor vehicle, or only adjusts the length of the wheel track between the front wheel and the rear wheel of the motor vehicle, and a plurality of motors are used for driving the wheel track adjusting mechanism. The length and width design of the motor vehicle are considered according to different purposes, load bearing, coordination and other factors, the independent adjustment of the width of the wheel track between the left wheel and the right wheel or the independent adjustment of the length of the wheel track between the front wheel and the rear wheel easily affects the stability, coordination and installation and maintenance of the vehicle body to a certain extent, and in addition, the conventional wheel track adjustment can be carried out only in a parking state.
Disclosure of Invention
The invention provides a wheel track adjusting mechanism of a motor vehicle and a control method thereof, aiming at overcoming the defects that the wheel track adjustment in the prior art can only be carried out in a parking state, adopts a manual disassembly mode, only adjusts the width of the wheel track or only adjusts the length of the wheel track and the like.
The technical scheme adopted by the invention for solving the technical problems is as follows: a wheel track adjusting mechanism of a motor vehicle comprises a frame, a wheel track adjusting motor is installed in the center of the frame, the wheel track adjusting motor is a double-output shaft, a reduction gearbox R and a reduction gearbox L are installed at two ends of the wheel track adjusting motor respectively, the reduction gearbox is a double-output shaft worm gear mechanism, the length of an output shaft of the wheel track adjusting motor and the length of the output shaft of the reduction gearbox can be set according to the adjustment requirement of the wheel track and the wheel track, an encoder B is installed on one of output shafts of the reduction gearbox, the output shaft of the reduction gearbox is connected with the rear ends of screw and nut mechanisms respectively through universal joints, the front ends of 4 screw and nut mechanisms are installed on 4 corners of the frame respectively, the screw and nut mechanisms are provided with telescopic frames, steering actuating mechanisms are installed at the front ends of 4 telescopic frames respectively, wheels are installed on the steering actuating mechanisms, the wheels comprise a left front wheel, a, the bottom plate is installed to the frame bottom, and the bottom plate is installed driving system and control system, and the frame is integrated structure with the mount of screw rod nut mechanism, wheel base adjustment motor.
According to the motor vehicle wheel track adjusting mechanism, the steering actuating mechanism is provided with the steering column, the bottom of the steering column is provided with the wheel fork, the wheel fork is provided with the wheel, the wheel is provided with the electronic brake device, the top of the steering column is connected with the steering motor, the steering motor is provided with the encoder A, the steering column is further provided with the wheel driving motor fixing device, the wheel driving motor fixing device fixes the wheel driving motor, and the combined bearing arranged on the steering column fixes the steering actuating mechanism at the front end of the telescopic frame.
The motor vehicle wheel track adjusting mechanism comprises a screw, a nut and a square fixing frame, wherein the front end and the rear end of the square fixing frame are respectively provided with a front limit switch and a rear limit switch, the front limit switch is installed at the maximum position of the adjustable wheel track, the rear limit switch is installed at the minimum position of the adjustable wheel track, two sides in the front end of the square fixing frame are respectively provided with a bearing b, the rolling surface of the bearing b is respectively contacted with the bottom of a bearing b guide groove on an expansion bracket and the inner top surface of the square fixing frame, a bearing a is installed below the rear end of the expansion bracket, and the bearing a is contacted with the inner bottom surface of the square fixing frame; the screw thread of 2 screw nut mechanisms that reduction box R connects is forward one for reverse, 2 screw nut mechanisms that reduction box L connects, and the screw thread of its screw rod is the same forward one for reverse.
In the wheel track adjusting mechanism of the motor vehicle, the wheel driving motors are symmetrically arranged, the driving motors of the left front wheel and the right front wheel are positioned above the back of the corresponding front wheel, the driving motors of the left rear wheel and the right rear wheel are positioned above the front of the corresponding rear wheel, the output shaft of the wheel driving motor is provided with the transmission gear, and the transmission gear arranged on the wheel rotating shaft are connected into the gear transmission group through the chain.
In the wheel track adjusting mechanism for the motor vehicle, the wheel track adjusting motor can synchronously adjust the length of the wheel track between the front wheel and the rear wheel and the width of the wheel track between the left wheel and the right wheel, the double output shafts of the wheel track adjusting motor can be also set as long shafts, and the wheel track adjusting distance between the front wheel and the rear wheel is greater than the wheel track adjusting distance between the left wheel and the right wheel when the wheel track adjusting motor rotates for one circle under the condition that the size of the frame is not changed; the double output shafts of the reduction gearbox R and the reduction gearbox L can be set to be long shafts, and under the condition that the size of the frame is unchanged and the output shaft of the wheel tread adjusting motor is a short shaft, the wheel tread adjusting distance between the front wheel and the rear wheel is smaller than the wheel tread adjusting distance between the left wheel and the right wheel when the wheel tread adjusting motor rotates for one circle.
In the motor vehicle wheel track adjusting mechanism, the coded disc of the encoder B is fixed on the output shaft of the reduction gearbox, the encoder B is used for detecting the rotating speed and the rotating turns of the output shaft or the screw, the encoder B transmits the detected rotating speed and the detected turns to the control system during wheel track adjustment, and the control system calculates the accurate numerical values before and after wheel track adjustment according to the installation angle between the existing screw nut mechanism and the frame, the pitch information on the screw, and the minimum position, the maximum position and the existing position of the motor vehicle wheel track.
In the motor vehicle wheel track adjusting mechanism, the control system is connected with the wheel track adjusting motor, the wheel driving motor, the steering motor, the encoder A, the front limit switch, the rear limit switch, the encoder B, the controller and the power system.
In the wheel track adjusting mechanism of the motor vehicle, the controller is provided with a power switch, a stop key, a brake key, a front limit indicator lamp, a rear limit indicator lamp, a wheel track increasing operation key and a wheel track reducing operation key; the track increasing operation key and the track reducing operation key are inching control; and the information and data transmission between the controller and the control system is in a wired or wireless mode.
A control method of a motor vehicle wheel track adjusting mechanism comprises a wheel track increasing control method in a motor vehicle stop state, a wheel track reducing control method in a motor vehicle stop state, a wheel track increasing control method in the motor vehicle running process and a wheel track reducing control method in the motor vehicle running process;
the wheel track increasing control method for the stop state of the motor vehicle comprises the following steps:
step 1: the power supply is switched on, the track increasing operation key is pressed down, the control system detects the position of the wheel, when the wheel is positioned at the maximum track position, the front limit switch is switched on, the front limit indicator lamp is on, and the condition that the track cannot be increased is indicated; when the wheel is positioned between the minimum wheel track position and the maximum wheel track position, the electronic brake device releases the brake;
step 2: the steering motor is started, wherein: the steering motor corresponding to the left front wheel rotates anticlockwise, and stops rotating when the encoder A detects that the direction of the wheel is consistent with the pushing-out direction of the telescopic frame according to the set motor rotation angle; meanwhile, a steering motor corresponding to the right front wheel rotates clockwise, and when an encoder A of the steering motor detects that the direction of the wheels is consistent with the pushing-out direction of the telescopic frame, the steering motor stops rotating; meanwhile, a steering motor corresponding to the left rear wheel rotates clockwise, and when an encoder A of the steering motor detects that the direction of the wheel is consistent with the pushing direction of the telescopic frame, the steering motor stops rotating; meanwhile, a steering motor corresponding to the right rear wheel rotates anticlockwise, and stops rotating when the encoder A detects that the direction of the wheel is consistent with the pushing-out direction of the telescopic frame;
and step 3: the wheel track adjusting motor rotates forwards or reversely, 4 telescopic frames and wheels are simultaneously pushed outwards through the screw and nut mechanisms, and the length and the width of the wheel track are simultaneously increased;
and 4, step 4: when the wheel track is adjusted to a required position, the wheel track increasing operation key is loosened, and the wheel track adjusting motor stops rotating;
and 5: all the steering motors rotate, the rotating direction is opposite to that in the step 2, and when the encoders A detect that the wheels rotate back to the angle of the initial state, 4 steering motors stop rotating;
step 6: the electronic brake device starts braking;
the track width reduction control method for the motor vehicle in the stop state comprises the following steps:
step 1: the power supply is switched on, the track reduction operation key is pressed, the control system detects the position of the wheel, when the wheel is at the minimum track position, the rear limit switch is switched on, the rear limit indicator lamp is on, and the situation that the track cannot be reduced is indicated; when the wheel is positioned between the maximum wheel track position and the minimum wheel track position, the electronic brake device releases the brake;
step 2: the steering motor is started, wherein: the steering motor corresponding to the left front wheel rotates anticlockwise, and stops rotating when the encoder A detects that the direction of the wheel is consistent with the introduction direction of the telescopic frame; meanwhile, a steering motor corresponding to the right front wheel rotates clockwise, and when an encoder A of the steering motor detects that the direction of the wheels is consistent with the introduction direction of the telescopic frame, the steering motor stops rotating; meanwhile, a steering motor corresponding to the left rear wheel rotates clockwise, and when the encoder A detects that the direction of the wheel is consistent with the introduction direction of the telescopic frame, the steering motor stops rotating; meanwhile, a steering motor corresponding to the right rear wheel rotates anticlockwise, and stops rotating when the encoder A detects that the direction of the wheel is consistent with the introduction direction of the telescopic frame;
and step 3: the wheel track adjusting motor rotates reversely or forwardly, 4 telescopic frames and wheels are simultaneously led in through the screw and nut mechanisms, and the length and the width of the wheel track are simultaneously reduced;
and 4, step 4: when the wheel track is adjusted to a required position, the wheel track reduction operation key is loosened, and the wheel track adjusting motor stops rotating;
and 5: all the steering motors rotate, the rotating direction is opposite to that in the step 2, and when the encoder A detects that the wheels rotate back to the angle of the initial state, 4 steering motors stop rotating;
step 6: the electronic brake device starts braking;
the method for controlling the increase of the wheel track of the motor vehicle in running comprises the following steps:
step 1: pressing down a wheel track increasing operation key, and reducing the speed of a wheel driving motor to a set speed;
step 2: the steering motor is started, wherein: the left front wheel and the left rear wheel rotate anticlockwise, when the encoder A detects that the wheels rotate to a set angle, the steering motor stops rotating, meanwhile, the right front wheel and the right rear wheel rotate clockwise, and when the encoder A detects that the wheels rotate to the set angle, the steering motor stops rotating; meanwhile, the track adjusting motor rotates forwards or reversely, 4 telescopic frames and wheels are simultaneously pushed outwards through the screw and nut mechanisms, and the length and the width of the track are simultaneously increased;
and step 3: when the wheel track is adjusted to a required position, the wheel track increasing operation key is loosened, and the wheel track adjusting motor stops rotating; meanwhile, all the steering motors rotate, the rotating direction is opposite to that in the step 2, and when the encoder A detects that the wheels rotate back to the angle of the initial state, 4 steering motors stop rotating;
and 4, step 4: the wheel driving motor is restored to the original speed;
the track reduction control method during the running of the motor vehicle comprises the following steps:
step 1: pressing down a wheel track reduction operation key, and reducing the speed of a wheel driving motor to a set speed;
step 2: the steering motor is started, wherein: the left front wheel and the left rear wheel rotate clockwise to a set angle, the steering motor stops rotating, and meanwhile, the right front wheel and the right rear wheel rotate anticlockwise to a set angle, and the steering motor stops rotating; meanwhile, the wheel track adjusting motor rotates reversely or forwardly, 4 telescopic frames and wheels are simultaneously led in through the screw and nut mechanism, and the length and the width of the wheel track are simultaneously reduced;
and step 3: when the wheel track is adjusted to a required position, the wheel track reduction operation key is loosened, and the wheel track adjusting motor stops rotating; simultaneously, all the steering motors rotate, the rotating direction is opposite to that in the step 2, and when the encoder A detects that the wheels rotate back to the angle of the initial state, 4 steering motors stop rotating;
and 4, step 4: the wheel driving motor is restored to the original speed.
The invention has the beneficial effects that:
1. the track adjusting motor simultaneously drives the four screw and nut mechanisms, the telescopic frame, the steering actuating mechanism and the wheels, and the track and the wheel base are synchronously and accurately adjusted from the middle position of the vehicle body to the directions of 4 corners of the vehicle body, so that the length-width ratio and the gravity center of the adjusted motor vehicle are kept unchanged, and the stability and the balance of the motor vehicle are improved;
2. the control system of the invention rotates the wheels to a set angle through controlling mechanisms such as a driving system of the wheels, a steering executing mechanism, a wheel track adjusting motor and the like, and when the wheel track adjusting mechanism works, the wheel track and the wheel base are simultaneously enlarged or reduced by rolling of the wheels, thereby avoiding the damage to the tires and the adjusting mechanism caused by directly pushing or retracting the wheels outwards by the wheel track adjusting mechanism in the prior art;
3. when the invention is used for adjusting the wheel track, the control system controls the driving speeds of 4 wheels and the rotating angle of the steering actuating mechanism according to a set program, so that the wheel track adjusting mechanism can be used for adjusting the wheel track and the wheel base when the motor vehicle is stopped, and can also be used for adjusting the wheel track and the wheel base when the motor vehicle runs, thereby being capable of well adapting to the requirements of different road environments and operation places and having strong terrain adaptability and trafficability;
4. according to different purposes of the motor vehicle, the double output shafts of the wheel track adjusting motor are set as long shafts or the double output shafts of the reduction gearbox R and the reduction gearbox L are set as long shafts, so that the length adjustment of the wheel track and the wheel track is larger than the width adjustment or the width adjustment is larger than the length adjustment, the outward pushing direction of the wheels is changed (namely the directions of an X axis and a Y axis are changed simultaneously), and the requirements of the motor vehicle operation under special environments are met;
5. the invention has the characteristics of simple structure, reasonable design, wide application, strong practicability and the like.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a schematic view of the present invention;
FIG. 2 is a schematic view taken along line E-E of FIG. 1;
FIG. 3 is a schematic view of the steering actuator taken along line F-F of FIG. 1;
FIG. 4 is a schematic view of a screw and nut mechanism;
FIG. 5 is a schematic diagram of a controller;
FIG. 6 is a schematic structural view of the output shaft of the track adjusting motor as a long shaft;
FIG. 7 is a schematic view of a reduction box with a long shaft as an output shaft.
In the figure, 1, a vehicle frame, 2, a bottom plate, 3, a wheel driving motor, 4, a gear transmission group, 5, a left rear wheel, 6, a right rear wheel, 7, a right front wheel, 8, a left front wheel, 9, a wheel driving motor fixing device, 10, a steering actuating mechanism, 1001, a wheel fork frame, 1002, a steering column, 1003, a steering motor, 1004, an encoder A, 1005, a combination bearing, 11, an expansion bracket, 12, a screw and nut mechanism, 1201, a screw, 1202, a nut, 1203, a bearing a,1204, a square fixing frame, 1205, a bearing b, 1206, a front limit switch, 1207, a bearing b guide groove, 1208, a rear limit switch, 13, a control system, 14, a universal joint, 15, a wheel distance adjusting motor, 16, a reduction gearbox R, 17, a power system, 18, a reduction gearbox L, 19, a controller, 1901, a power switch, 1902, a front limit indicator lamp, 1903, a wheel distance increasing operation key, 1904, a wheel distance reducing operation key, 1905. a rear limit indicator light 1906, a brake key 1907, a stop key 20, an electronic brake device 21, and an encoder B.
Detailed Description
An embodiment provides a wheel track adjusting mechanism of a motor vehicle, which comprises a vehicle frame 1, wherein a wheel track adjusting motor 15 is arranged at the center of the vehicle frame 1, the wheel track adjusting motor 15 is a double-output shaft, a reduction gearbox R16 and a reduction gearbox L18 are respectively arranged at two ends of the wheel track adjusting motor 15, the reduction gearbox is a double-output shaft worm gear mechanism, the length of an output shaft of the wheel track adjusting motor and the length of the output shaft of the reduction gearbox can be set according to the adjustment requirement of the wheel track, one of the output shafts of the reduction gearboxes is provided with an encoder B21, the output shafts of the reduction gearboxes are respectively connected with the rear ends of screw nut mechanisms 12 through universal joints 14, the front ends of 4 screw nut mechanisms are respectively arranged at 4 corners of the vehicle frame 1, the screw nut mechanisms 12 are provided with telescopic frames 11, the front ends of the 4 telescopic frames are respectively provided with a steering executing mechanism 10, wheels are arranged on the steering executing mechanism 10, the steering actuating mechanism 10 is also provided with a wheel driving motor 3, the bottom of the frame 1 is provided with a bottom plate 2, the bottom plate 2 is provided with a power system 17 and a control system 13, and the frame 1, a screw and nut mechanism 12 and a fixed frame of a wheel track adjusting motor 15 are of an integrated structure; the steering actuator 10 is provided with a steering column 1002, the bottom of the steering column 1002 is provided with a wheel fork 1001, the wheel fork 1001 is provided with wheels, the wheels are provided with an electronic brake device 20, the top of the steering column 1002 is connected with a steering motor 1003, the steering motor 1003 is provided with an encoder A1004, the steering column 1002 is also provided with a wheel driving motor fixing device 9, the wheel driving motor fixing device 9 is used for fixing a wheel driving motor 3, and the combined bearing 1005 arranged on the steering column 1002 is used for fixing the steering actuator 10 at the front end of the telescopic frame 11; the screw and nut mechanism 12 comprises a screw 1201, a nut 1202 and a square fixing frame 1204, a front limit switch 1206 and a rear limit switch 1208 are respectively arranged at the front end and the rear end of the square fixing frame 1204, the front limit switch 1206 is arranged at the maximum position of the adjustable wheel track, the rear limit switch 1208 is arranged at the minimum position of the adjustable wheel track, bearings b1205 are respectively arranged at two sides in the front end of the square fixing frame 1204, the rolling surfaces of the bearings b1205 are respectively contacted with the bottom of a bearing b guide groove 1207 on the telescopic frame 11 and the inner top surface of the square fixing frame 1204, a bearing a1203 is arranged below the rear end of the telescopic frame 11, the bearing a1203 is contacted with the inner bottom surface of the square fixing frame 1204, 2 screw and nut mechanisms connected with a reduction gearbox R16, one screw thread of the screw 1201 is in a forward direction and the other is in a reverse direction, 2 screw and nut mechanisms connected with a reduction gearbox L18, the screw threads of the screws are, the wheel driving motors 3 are symmetrically arranged, the driving motors of the left front wheel 8 and the right front wheel 7 are positioned above the back of the corresponding front wheel, the driving motors of the left rear wheel 5 and the right rear wheel 6 are positioned above the front of the corresponding rear wheel, a transmission gear is arranged on an output shaft of the wheel driving motor 3, a transmission gear arranged on a wheel rotating shaft is connected with a chain to form a gear transmission group 4, a coded disc of an encoder B21 is fixed on an output shaft of a reduction box, an encoder B21 is used for detecting the rotating speed and the rotating number of turns of the output shaft or a screw rod, when the wheel track is adjusted, the encoder B21 transmits the detected information of the rotating speed and the number of turns to the control system 13, the control system 13 controls the wheel track to rotate according to the information of the angle between the existing screw-nut mechanism 12 and the vehicle frame 1 and the pitch of the screw, calculating the accurate values of the minimum position, the maximum position and the existing position of the wheel track of the motor vehicle before and after the wheel track is adjusted; the control system 13 is connected with the track adjusting motor 15, the wheel driving motor 3, the steering motor 1003, the encoder A1004, the front limit switch 1206, the rear limit switch 1208, the encoder B21, the controller 19 and the power system 17; the controller 19 is provided with a power switch 1901, a stop key 1907, a brake key 1906, a front limit indicator light 1902, a rear limit indicator light 1905, a track-increasing operation key 1903, and a track-decreasing operation key 1904; the track increasing operation key 1903 and the track decreasing operation key 1904 are jog control; the information and data transmission between the controller 19 and the control system 13 is wired or wireless.
As shown in fig. 6 and 7, the track adjusting motor 15 can synchronously adjust the track length between the front and rear wheels and the track width between the left and right wheels, the dual output shaft of the track adjusting motor 15 can also be set as a long shaft, the track adjusting distance between the front and rear wheels is greater than the track adjusting distance between the left and right wheels when the track adjusting motor 15 rotates for one turn under the condition that the size of the frame 1 is not changed, the dual output shafts of the reduction gearbox R16 and the reduction gearbox L18 can also be set as long shafts, and the track adjusting distance between the front and rear wheels is less than the track adjusting distance between the left and right wheels when the track adjusting motor 15 rotates for one turn under the condition that the size of the frame 1 is not changed and the output shaft of the track adjusting motor 15 is a short shaft.
The frame 1, the screw and nut mechanism 12 and the fixed mount of the wheel track adjusting motor 15 are integrated.
The control method of the motor vehicle wheel track adjusting mechanism comprises a wheel track increasing control method in a motor vehicle stop state, a wheel track reducing control method in a motor vehicle stop state, a wheel track increasing control method in the motor vehicle running process and a wheel track reducing control method in the motor vehicle running process.
The wheel track increasing control method in the stop state of the motor vehicle comprises the following steps: the power is switched on, the track increasing operation key 1903 is pressed, the control system 13 detects the position of the wheel, when the wheel is at the maximum track position, the front limit switch 1206 is switched on, the front limit indicator light 1902 is on, and the wheel track cannot be increased; when the wheel is between the minimum and maximum track positions, the electronic brake device 20 releases the brake; the steering motor 1003 is started, wherein: the steering motor corresponding to the left front wheel 8 rotates anticlockwise, and stops rotating when the encoder A detects that the direction of the wheel is consistent with the pushing-out direction of the telescopic frame 11 according to the set motor rotation angle; meanwhile, a steering motor corresponding to the right front wheel 7 rotates clockwise, and stops rotating when an encoder A of the steering motor detects that the direction of the wheels is consistent with the pushing-out direction of the telescopic frame 11 of the steering motor; meanwhile, a steering motor corresponding to the left rear wheel 5 rotates clockwise, and stops rotating when the encoder A detects that the direction of the wheel is consistent with the pushing direction of the telescopic frame 11; meanwhile, the steering motor corresponding to the right rear wheel 6 rotates anticlockwise, and stops rotating when the encoder A detects that the direction of the wheel is consistent with the pushing-out direction of the telescopic frame 11; the wheel track adjusting motor 15 rotates forwards or reversely, 4 telescopic frames and wheels are simultaneously pushed outwards through the screw and nut mechanisms, and the length and the width of the wheel track are simultaneously increased; when the wheel track is adjusted to a required position, the wheel track increasing operation key 1903 is released, and the wheel track adjusting motor 15 stops rotating; all the steering motors rotate reversely, and when the encoders A detect that the wheels rotate back to the angle of the initial state, 4 steering motors stop rotating; the electronic brake device 20 starts braking.
The track reduction control method for the stopped state of the motor vehicle comprises the following steps: switching on a power supply, pressing a wheel track reduction operation key 1904, detecting the position of a wheel by the control system 13, and when the wheel is at the minimum wheel track position, switching on a rear limit switch 1208, and lighting a rear limit indicator light 1905 to prompt that the wheel track cannot be reduced; when the wheel is between the maximum and minimum wheel track positions, the electronic brake device 20 releases the brake; the steering motor 1003 is started, wherein: the steering motor corresponding to the left front wheel 8 rotates anticlockwise, and stops rotating when the encoder A detects that the direction of the wheel is consistent with the introduction direction of the telescopic frame 11; meanwhile, a steering motor corresponding to the right front wheel 7 rotates clockwise, and stops rotating when an encoder A of the steering motor detects that the direction of the wheels is consistent with the introduction direction of the telescopic frame 11 of the steering motor; meanwhile, a steering motor corresponding to the left rear wheel 5 rotates clockwise, and stops rotating when the encoder A detects that the direction of the wheel is consistent with the introduction direction of the telescopic frame 11; meanwhile, the steering motor corresponding to the right rear wheel 6 rotates anticlockwise, and stops rotating when the encoder A detects that the direction of the wheels is consistent with the introduction direction of the telescopic frame 11; the wheel track adjusting motor 15 rotates reversely or positively, 4 telescopic frames and wheels are simultaneously led in through the screw and nut mechanism, and the length and the width of the wheel track are simultaneously reduced; when the tread is adjusted to the desired position, the tread reducing operation key 1904 is released, and the tread adjusting motor 15 stops rotating; all the steering motors rotate reversely, and when the encoder A detects that the wheels rotate back to the angle of the initial state, 4 steering motors stop rotating; the electronic brake device 20 starts braking;
the method for controlling the increase of the wheel track during the running of the motor vehicle comprises the following steps: pressing the track increasing operation key 1903, the wheel driving motor 3 decelerates to a set speed; the steering motor 1003 is started, wherein: the left front wheel 8 and the left rear wheel 5 rotate anticlockwise, when the encoder A detects that the wheels rotate to a set angle, the steering motor stops rotating, meanwhile, the right front wheel 7 and the right rear wheel 6 rotate clockwise, and when the encoder A detects that the wheels rotate to the set angle, the steering motor stops rotating; meanwhile, the track adjusting motor 15 rotates forwards or backwards, 4 telescopic frames and wheels are simultaneously pushed outwards through the screw and nut mechanism, and the length and the width of the track are simultaneously increased; when the wheel track is adjusted to a required position, the wheel track increasing operation key 1903 is released, and the wheel track adjusting motor 15 stops rotating; meanwhile, all the steering motors rotate reversely, and when the encoder A detects that the wheels rotate back to the angle of the initial state, 4 steering motors stop rotating; the wheel driving motor 3 is restored to the original speed;
the track reduction control method during the running of the motor vehicle comprises the following steps: pressing the track-reducing operation key 1904, the wheel drive motor 3 is decelerated to a set speed; the steering motor 1003 is started, wherein: the left front wheel 8 and the left rear wheel 5 rotate clockwise to a set angle, the steering motor stops rotating, and meanwhile, the right front wheel 7 and the right rear wheel 6 rotate anticlockwise to a set angle, and the steering motor stops rotating; meanwhile, the wheel track adjusting motor 15 rotates reversely or positively, 4 telescopic frames and wheels are simultaneously led in through the screw and nut mechanism, and the length and the width of the wheel track are simultaneously reduced; when the tread is adjusted to the desired position, the tread reducing operation key 1904 is released, and the tread adjusting motor 15 stops rotating; meanwhile, all the steering motors rotate reversely, and when the encoder A detects that the wheels rotate back to the angle of the initial state, 4 steering motors stop rotating; the wheel driving motor 3 is restored to the original speed.
When the invention works, when the wheel track is required to be adjusted in situ, firstly, a power switch 1901 on a controller 19 is turned on, then a wheel track increasing operation key 1903 or a wheel track reducing operation key 1904 is pressed, an electronic brake device 20, a wheel track adjusting motor 15, a screw nut mechanism 12 and a steering motor 1003 automatically act according to a set control program, the width and the length of the wheel track of the motor vehicle are increased or reduced, the wheel track increasing operation key 1903 or the wheel track reducing operation key 1904 are loosened, the wheel recovers the original direction, and the electronic brake device automatically brakes; when the motor vehicle runs, the wheel track needs to be adjusted, the wheel track increasing operation key 1903 or the wheel track reducing operation key 1904 is pressed, the motor vehicle decelerates to a set speed, the wheel track adjusting motor 15, the screw nut mechanism 12 and the steering motor 1003 automatically press a set control program to act, the width and the length of the wheel track of the motor vehicle are increased or reduced, the wheel track increasing operation key 1903 or the wheel track reducing operation key 1904 are loosened, the wheel returns to the original direction, and the speed of the motor vehicle returns to the original speed.
Claims (9)
1. A motor vehicle wheel tread adjustment mechanism, includes frame (1), its characterized in that: a wheel track adjusting motor (15) is arranged at the center of the frame (1), the wheel track adjusting motor (15) is a double-output shaft, a reduction gearbox R (16) and a reduction gearbox L (18) are respectively arranged at two ends of the wheel track adjusting motor, the reduction gearbox is a double-output shaft worm gear mechanism, the length of an output shaft of the wheel track adjusting motor and the length of the output shaft of the reduction gearbox can be set according to the adjustment requirement of the wheel track and the wheel track, an encoder B (21) is arranged on one of output shafts of the reduction gearbox, the output shafts of the reduction gearbox are respectively connected with the rear ends of screw and nut mechanisms (12) through universal joints (14), the front ends of the 4 screw and nut mechanisms are respectively arranged at 4 corners of the frame (1), the screw and nut mechanisms (12) are provided with telescopic frames (11), steering executing mechanisms (10) are respectively arranged at the front ends of the 4 telescopic frames, wheels are arranged on, The front wheel steering system comprises a right front wheel (7), a left rear wheel (5) and a right rear wheel (6), a steering execution mechanism (10) is further provided with a wheel driving motor (3), the bottom of a frame (1) is provided with a bottom plate (2), the bottom plate (2) is provided with a power system (17) and a control system (13), and the frame (1) is integrated with a screw and nut mechanism (12) and a fixed frame of a wheel track adjusting motor (15).
2. The motor vehicle track adjusting mechanism according to claim 1, characterized in that the steering actuator (10) is provided with a steering column (1002), a wheel fork (1001) is installed at the bottom of the steering column (1002), a wheel is installed on the wheel fork (1001), an electronic brake device (20) is installed on the wheel, a steering motor (1003) is connected to the top of the steering column (1002), an encoder A (1004) is installed on the steering motor (1003), a wheel driving motor fixing device (9) is further installed on the steering column (1002), the wheel driving motor (3) is fixed by the wheel driving motor fixing device (9), and a combined bearing (1005) installed on the steering column (1002) fixes the steering actuator (10) at the front end of the telescopic frame (11).
3. The motor vehicle track adjusting mechanism according to claim 2, wherein the screw-nut mechanism (12) comprises a screw (1201), a nut (1202) and a square fixing frame (1204), the front end and the rear end of the square fixing frame (1204) are respectively provided with a front limit switch (1206) and a rear limit switch (1208), the front limit switch (1206) is installed at the maximum position of the adjustable track, the rear limit switch (1208) is installed at the minimum position of the adjustable track, bearings b (1205) are respectively arranged on two sides in the front end of the square fixing frame (1204), the rolling surfaces of the bearings b (1205) are respectively contacted with the bottom of a bearing b guide groove (1207) on the telescopic frame (11) and the inner top surface of the square fixing frame (1204), a bearing a (1203) is arranged below the rear end of the telescopic frame (11), and the bearing a (1203) is contacted with the inner bottom surface of the square fixing frame (1204); the reduction gearbox L (18) is connected with the 2 screw nut mechanisms, the screw threads of the screw (1201) are in the forward direction and in the reverse direction, and the screw threads of the screw of the 2 screw nut mechanisms are in the same forward direction and in the reverse direction.
4. The motor vehicle track adjusting mechanism according to claim 1, characterized in that the wheel driving motors (3) are symmetrically installed, the driving motors of the left front wheel (8) and the right front wheel (7) are located above the back of the corresponding front wheel, the driving motors of the left rear wheel (5) and the right rear wheel (6) are located above the front of the corresponding rear wheel, and the output shaft of the wheel driving motor (3) is provided with a transmission gear which is connected with the transmission gear installed on the wheel rotating shaft through a chain to form a gear transmission group (4).
5. The motor vehicle wheel track adjusting mechanism according to claim 1, wherein the wheel track adjusting motor (15) can synchronously adjust the length of the wheel track between the front and rear wheels and the width of the wheel track between the left and right wheels, the dual output shaft of the wheel track adjusting motor (15) can be set as a long shaft, and the wheel track adjusting distance between the front and rear wheels is larger than the wheel track adjusting distance between the left and right wheels per rotation of the wheel track adjusting motor (15) under the condition that the size of the vehicle frame (1) is not changed; the double output shafts of the reduction gearbox R (16) and the reduction gearbox L (18) can also be set as long shafts, and under the condition that the size of the frame (1) is unchanged and the output shaft of the wheel distance adjusting motor (15) is a short shaft, the wheel distance adjusting distance between the front wheel and the rear wheel is smaller than the wheel distance adjusting distance between the left wheel and the right wheel when the wheel distance adjusting motor (15) rotates one circle.
6. The motor vehicle wheel track adjusting mechanism according to claim 1, characterized in that a code wheel of the encoder B (21) is fixed on an output shaft of the reduction gearbox, the encoder B (21) is used for detecting the rotating speed and the number of turns of the output shaft or the screw, when the wheel track is adjusted, the encoder B (21) transmits the detected rotating speed and the number of turns to the control system (13), and the control system (13) calculates accurate values before and after the wheel track is adjusted according to the installation angle between the existing screw and nut mechanism (12) and the vehicle frame (1), the screw pitch information on the screw, and the minimum position, the maximum position and the existing position of the motor vehicle wheel track.
7. The motor vehicle track adjustment mechanism according to claim 3, characterized in that the control system (13) is connected with a track adjustment motor (15), a wheel drive motor (3), a steering motor (1003), an encoder A (1004), a front limit switch (1206), a rear limit switch (1208), an encoder B (21), a controller (19) and a power system (17).
8. The motor vehicle wheel track adjusting mechanism according to claim 7, wherein the controller (19) is provided with a power switch (1901), a stop key (1907), a brake key (1906), a front limit indicator lamp (1902), a rear limit indicator lamp (1905), a wheel track increasing operation key (1903), and a wheel track decreasing operation key (1904); the track increasing operation key (1903) and the track reducing operation key (1904) are inching control; the information and data transmission between the controller (19) and the control system (13) is in a wired or wireless mode.
9. A control method of a motor vehicle track adjusting mechanism according to any one of claims 1 to 8, characterized in that: the method comprises a wheel track increasing control method in a motor vehicle stop state, a wheel track reducing control method in a motor vehicle stop state, a wheel track increasing control method in the motor vehicle running process and a wheel track reducing control method in the motor vehicle running process;
the wheel track increasing control method for the stop state of the motor vehicle comprises the following steps:
step 1: the power is switched on, a track increasing operation key (1903) is pressed, the control system (13) detects the position of the wheel, when the wheel is positioned at the maximum track position, a front limit switch (1206) is switched on, a front limit indicator lamp (1902) is lightened, and the situation that the track cannot be increased is prompted; when the wheel is between the minimum wheel track position and the maximum wheel track position, the electronic brake device (20) releases the brake;
step 2: the steering motor (1003) is started, wherein: the steering motor corresponding to the left front wheel (8) rotates anticlockwise, and stops rotating when the encoder A detects that the direction of the wheel is consistent with the pushing-out direction of the telescopic frame (11) according to the set motor rotation angle; meanwhile, a steering motor corresponding to the right front wheel (7) rotates clockwise, and stops rotating when an encoder A of the steering motor detects that the direction of the wheels is consistent with the pushing direction of an expansion bracket (11) of the steering motor; meanwhile, a steering motor corresponding to the left rear wheel (5) rotates clockwise, and stops rotating when the encoder A detects that the direction of the wheel is consistent with the pushing direction of the telescopic frame (11) of the wheel; meanwhile, a steering motor corresponding to the right rear wheel (6) rotates anticlockwise, and stops rotating when the encoder A detects that the direction of the wheel is consistent with the pushing-out direction of the telescopic frame (11) of the wheel;
and step 3: the wheel track adjusting motor (15) rotates forwards or reversely, 4 telescopic frames and wheels are simultaneously pushed outwards through the screw and nut mechanism, and the length and the width of the wheel track are simultaneously increased;
and 4, step 4: when the wheel track is adjusted to a required position, the wheel track increasing operation key (1903) is loosened, and the wheel track adjusting motor (15) stops rotating;
and 5: all the steering motors rotate, the rotating direction is opposite to that in the step 2, and when the encoders A detect that the wheels rotate back to the angle of the initial state, 4 steering motors stop rotating;
step 6: the electronic brake device (20) starts braking;
the track width reduction control method for the motor vehicle in the stop state comprises the following steps:
step 1: switching on a power supply, pressing a wheel track reduction operation key (1904), detecting the position of a wheel by a control system (13), and when the wheel is positioned at the minimum wheel track position, switching on a rear limit switch (1208), and lighting a rear limit indicator lamp (1905) to prompt that the wheel track cannot be reduced; when the wheel is between the maximum wheel track position and the minimum wheel track position, the electronic brake device (20) releases the brake;
step 2: the steering motor (1003) is started, wherein: the steering motor corresponding to the left front wheel (8) rotates anticlockwise, and stops rotating when the encoder A detects that the direction of the wheel is consistent with the introduction direction of the telescopic frame (11); meanwhile, a steering motor corresponding to the right front wheel (7) rotates clockwise, and stops rotating when an encoder A of the steering motor detects that the direction of the wheels is consistent with the introduction direction of the telescopic frame (11) of the steering motor; meanwhile, a steering motor corresponding to the left rear wheel (5) rotates clockwise, and stops rotating when the encoder A detects that the direction of the wheel is consistent with the introduction direction of the telescopic frame (11); meanwhile, a steering motor corresponding to the right rear wheel (6) rotates anticlockwise, and stops rotating when an encoder A of the steering motor detects that the direction of the wheel is consistent with the introduction direction of the telescopic frame (11) of the steering motor;
and step 3: the wheel track adjusting motor (15) rotates reversely or positively, 4 telescopic frames and wheels are simultaneously led in through the screw and nut mechanism, and the length and the width of the wheel track are simultaneously reduced;
and 4, step 4: when the wheel track is adjusted to a required position, the wheel track reduction operation key (1904) is loosened, and the wheel track adjusting motor (15) stops rotating;
and 5: all the steering motors rotate, the rotating direction is opposite to that in the step 2, and when the encoder A detects that the wheels rotate back to the angle of the initial state, 4 steering motors stop rotating;
step 6: the electronic brake device (20) starts braking;
the method for controlling the increase of the wheel track of the motor vehicle in running comprises the following steps:
step 1: pressing a wheel track increasing operation key (1903), and reducing the speed of a wheel driving motor (3) to a set speed;
step 2: the steering motor (1003) is started, wherein: the left front wheel (8) and the left rear wheel (5) rotate anticlockwise, when the encoder A detects that the wheels rotate to a set angle, the steering motor stops rotating, meanwhile, the right front wheel (7) and the right rear wheel (6) rotate clockwise, and when the encoder A detects that the wheels rotate to the set angle, the steering motor stops rotating; meanwhile, a wheel track adjusting motor (15) rotates forwards or reversely, 4 telescopic frames and wheels are simultaneously pushed outwards through a screw and nut mechanism, and the length and the width of the wheel track are simultaneously increased;
and step 3: when the wheel track is adjusted to a required position, the wheel track increasing operation key (1903) is loosened, and the wheel track adjusting motor (15) stops rotating; meanwhile, all the steering motors rotate, the rotating direction is opposite to that in the step 2, and when the encoder A detects that the wheels rotate back to the angle of the initial state, 4 steering motors stop rotating;
and 4, step 4: the wheel driving motor (3) is restored to the original speed;
the track reduction control method during the running of the motor vehicle comprises the following steps:
step 1: pressing down a track reduction operation key (1904) to reduce the speed of a wheel driving motor (3) to a set speed;
step 2: the steering motor (1003) is started, wherein: the left front wheel (8) and the left rear wheel (5) rotate clockwise to a set angle, the steering motor stops rotating, and meanwhile, the right front wheel (7) and the right rear wheel (6) rotate anticlockwise to a set angle, and the steering motor stops rotating; meanwhile, a wheel track adjusting motor (15) rotates reversely or positively, 4 telescopic frames and wheels are simultaneously led in through a screw and nut mechanism, and the length and the width of the wheel track are simultaneously reduced;
and step 3: when the wheel track is adjusted to a required position, the wheel track reduction operation key (1904) is loosened, and the wheel track adjusting motor (15) stops rotating; simultaneously, all the steering motors rotate, the rotating direction is opposite to that in the step 2, and when the encoder A detects that the wheels rotate back to the angle of the initial state, 4 steering motors stop rotating;
and 4, step 4: the wheel driving motor (3) is restored to the original speed.
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| CN201910416141.4A CN110103641B (en) | 2019-05-19 | 2019-05-19 | Motor vehicle wheel track adjusting mechanism and control method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPS5777265A (en) * | 1980-10-30 | 1982-05-14 | Mitsubishi Agricult Mach Co Ltd | Device to adjust wheel distance of front wheels |
| FR2844245B1 (en) * | 2002-09-10 | 2005-04-29 | Jean Marie Obry | UNIVERSAL VEHICLE FOR ROAD TRANSPORT, WANDAGE AND GROUND GUARD VARIABLES |
| CN103057631B (en) * | 2013-02-08 | 2015-04-01 | 吉林大学 | Wheel track changing suspension mechanism of traveling machinery |
| CN103693581A (en) * | 2013-11-28 | 2014-04-02 | 江苏泰隆减速机股份有限公司 | Jack with limiting switch |
| CN205150024U (en) * | 2015-10-19 | 2016-04-13 | 新西兰投资贸易中心 | Electric automobile |
| CN208730710U (en) * | 2018-09-05 | 2019-04-12 | 武汉广厦润田农业发展有限公司 | A kind of farmland operation walking mechanism |
| CN109760742B (en) * | 2019-03-14 | 2023-09-15 | 常熟理工学院 | Variable tread omnidirectional four-wheel drive mobile chassis |
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