CN110254505A - A kind of electrical steering assembly and electric car - Google Patents
A kind of electrical steering assembly and electric car Download PDFInfo
- Publication number
- CN110254505A CN110254505A CN201910548043.6A CN201910548043A CN110254505A CN 110254505 A CN110254505 A CN 110254505A CN 201910548043 A CN201910548043 A CN 201910548043A CN 110254505 A CN110254505 A CN 110254505A
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- China
- Prior art keywords
- hand rotation
- axle bed
- rotation axle
- preceding bridge
- toggle
- Prior art date
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- 230000007246 mechanism Effects 0.000 claims abstract description 24
- 238000005183 dynamical system Methods 0.000 claims abstract description 13
- 230000000712 assembly Effects 0.000 claims abstract description 4
- 238000000429 assembly Methods 0.000 claims abstract description 4
- 230000009467 reduction Effects 0.000 claims description 20
- 239000000725 suspension Substances 0.000 claims description 8
- -1 dynamical system Substances 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 12
- 238000005192 partition Methods 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 6
- 230000001133 acceleration Effects 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 230000004044 response Effects 0.000 description 4
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 229910052799 carbon Inorganic materials 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 238000010892 electric spark Methods 0.000 description 1
- OCYSGIYOVXAGKQ-UHFFFAOYSA-N hydron;3-[1-hydroxy-2-(methylamino)ethyl]phenol;chloride Chemical compound Cl.CNCC(O)C1=CC=CC(O)=C1 OCYSGIYOVXAGKQ-UHFFFAOYSA-N 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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
- B62D5/0403—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by constructional features, e.g. common housing for motor and gear box
-
- 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
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
Abstract
The present invention provides a kind of electrical steering assemblies, are related to technical field of automobile design.The electrical steering assembly includes: rear axle, and rear axle is provided with rear-wheel shaft, and rear-wheel shaft drives rotation by the dynamical system of automobile；Preceding bridge, preceding bridge are equipped with steering mechanism, left-hand rotation axle bed and right-hand rotation axle bed, left-hand rotation axle bed and right-hand rotation axle bed are respectively set at left and right sides of steering mechanism；Steering mechanism is able to drive left-hand rotation axle bed and right-hand rotation axle bed while turning to, and extended line of the extended line of left-hand rotation axle bed upper shaft with the extended line of right-hand rotation axle bed upper shaft always with rear-wheel shaft intersects.Steering mechanism is arranged in preceding bridge in electrical steering assembly of the invention, and rear axle drives traveling to advance by dynamical system, by turning function component and driving function component partition arrangement, can bring that steering torque is bigger, load capacity is stronger, the higher effect of reliability.On this basis, the present invention also provides a kind of electric cars.
Description
Technical field
The present invention relates to technical field of automobile design, in particular to a kind of electrical steering assembly and electric car.
Background technique
The robot that can be walked currently on the market is driven by wheel and is travelled or equipped with the legs and feet that can be walked.Wherein, it can use
Four wheels are usually set in the robot steadily loaded, and travel and be responsible for steering by two front-wheel drives, steering mode
Generally two-wheel differential steering.For this steering mode in the case where heavy load, that there are torques is small, steering power is insufficient existing
As application range is small.
Summary of the invention
The purpose of the present invention is to provide a kind of electrical steering assemblies, and steering mechanism and drive system are separately positioned on
Preceding bridge and rear axle, can reliably promote the steering torque of vehicle, improve it is feasible walk electric robot maximum load, turn to it is dynamic
Power and delivery reliability.
Another object of the present invention is to provide a kind of electric car, suspension and chassis can be reduced as wide as possible
Quality guarantees under the premise of enough torques, improves the payload of electric car.
The embodiment of the present invention is achieved in that
A kind of electrical steering assembly comprising: rear axle, the rear axle are provided with rear-wheel shaft, and the rear-wheel shaft passes through
The dynamical system of automobile drives rotation；Preceding bridge, the preceding bridge are equipped with steering mechanism, left-hand rotation axle bed and right-hand rotation axle bed, the steering
The left-hand rotation axle bed and the right-hand rotation axle bed are respectively set at left and right sides of mechanism；The steering mechanism is able to drive the left-hand rotation
Axle bed and the right-hand rotation axle bed turn to simultaneously, and the extended line of the left-hand rotation axle bed upper shaft and the right-hand rotation axle bed upper shaft
Extended line intersects with the extended line of rear-wheel shaft always.
In preferred embodiments of the present invention, the steering mechanism includes deceleration unit, turns to swing arm, the first pull rod, the
Two pull rods；The deceleration unit is installed on the preceding bridge, and the steering swing arm is arranged on the deceleration unit；The left rotary shaft
The first toggle is arranged in the front end of seat, and the second toggle is arranged in rear end；Third toggle is arranged in the rear end of the right-hand rotation axle bed；Institute
It states left-hand rotation axle bed, the steering swing arm and the right-hand rotation axle bed and is articulated with the preceding bridge, one end of first pull rod is hinged
The free end for turning to swing arm, hinged first toggle of the other end of first pull rod；The one of second pull rod
Hold hinged second toggle, the hinged third toggle of the other end of second pull rod.It has the technical effect that benefit
With the hinged relationships of multiple components and the relationship that is fixedly connected, deceleration unit, which is able to drive, to be turned to swing arm and realizes left-hand rotation axle bed and right-hand rotation
The swing in the same direction of axle bed.
In preferred embodiments of the present invention, intersection point between first toggle and the left-hand rotation axle bed is to before described
The vertical range of section in bridge, greater than the intersection point between second toggle and the left-hand rotation axle bed into the preceding bridge section
Vertical range.It, which has the technical effect that, is arranged different intersection positions, makes the near front wheel deflection angle in the case where turning to swing arm driving
More than or less than the deflection angle of off-front wheel.
In preferred embodiments of the present invention, intersection point between first toggle and the left-hand rotation axle bed is to before described
The vertical range of section in bridge, greater than the intersection point between the third toggle and the right-hand rotation axle bed into the preceding bridge section
Vertical range.It has the technical effect that through different mounting distances, so that entire steering mechanism is formed approximate Ackermam trapezoidal
Structure design, realize the left-hand rotation axle bed steering arm of force different with right-hand rotation axle bed, it is ensured that left during turning to swing arm and swinging
The extended line of shaft and the extended line of right spindle are intersected on the extended line of rear-wheel shaft.
In preferred embodiments of the present invention, the deceleration unit includes spur reduction machine；The spur reduction machine connection
The steering swing arm simultaneously can drive the steering swing arm to swing.It has the technical effect that the transmission of spur reduction machine directly, can subtract
Few torsion is lost and has compressed the installation space of equipment.
In preferred embodiments of the present invention, the reduction ratio of the spur reduction machine is 15:1 to 25:1.Its technical effect
It is: according to electric car, the service performance of robot, may be selected for reduction ratio to be set between 15:1 and 25:1, preferably set
It is set to 20:1.
In preferred embodiments of the present invention, the deceleration unit further includes Brushless DC drive device；The brushless direct-current
Driver connects the spur reduction machine and is able to drive the spur reduction machine operating.It has the technical effect that due to there is brush
Motor uses mechanical commutation, and the service life is short, noise is big, low efficiency and is easy to produce electric spark, and long-time service carbon brush abrasion is serious, compared with
It is easy to damage.Abrasion simultaneously produces a large amount of carbon dust, and dust is easy that bearing oil is made to accelerate to dry up, and noise of motor further increases
Greatly.And Brushless DC drive device then avoids drawbacks described above.
It further include controller and angular transducer in preferred embodiments of the present invention；The controller and the angle
Sensor is all set in the preceding bridge, and the angular transducer, the controller and the deceleration unit are sequentially connected electrically, described
Angular transducer is used to detect the rotational angle of the left-hand rotation axle bed and the right-hand rotation axle bed.It has the technical effect that controller
According to the real-time steering angle data that angular transducer monitors, changes the deflection angle of front-wheel or set rotation needed for front-wheel
Angle.
In preferred embodiments of the present invention, the angular transducer is rotational potentiometer.It has the technical effect that preferably
Using rotational potentiometer as angular transducer, the deflection angle of front-wheel is calculated by acquisition resistance value, obtain numerical value it is accurate and
Quickly.
A kind of electric car comprising wheel, suspension, dynamical system, vehicle frame and above-mentioned electrical steering assembly；It is described
Wheel is set to the rear-wheel shaft, the left-hand rotation axle bed and the right-hand rotation axle bed, and the preceding bridge, the rear axle pass through described outstanding
Frame connects the vehicle frame, and the dynamical system is set to the rear axle, for driving the rear-wheel shaft to rotate.
The beneficial effect of the embodiment of the present invention is:
1, steering mechanism is arranged in preceding bridge in electrical steering assembly, and rear axle drives traveling to advance by dynamical system, will turn to
Functional component and driving function component partition arrangement, can bring that steering torque is bigger, load capacity is stronger, reliability is higher
Effect.
2, electric car is provided with above-mentioned electrical steering assembly and drops as wide as possible under the premise of guaranteeing enough torques
The low quality of suspension and chassis, improves the payload of electric car.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is the first top view of electrical steering assembly that the embodiment of the present invention one, two provides；
Fig. 2 is the top view when electrical steering assembly that the embodiment of the present invention one, two provides turns left；
Fig. 3 is the top view when electrical steering assembly that the embodiment of the present invention one, two provides is turned right；
The perspective view of preceding bridge in the electrical steering assembly that Fig. 4 provides for the embodiment of the present invention one, two；
The top view of preceding bridge in the electrical steering assembly that Fig. 5 provides for the embodiment of the present invention one, two；
The top view of steering mechanism in the electrical steering assembly that Fig. 6 provides for the embodiment of the present invention one, two；
Fig. 7 is the angle acquisition circuit of electrical steering assembly provided by Embodiment 2 of the present invention.
In figure: 100- rear axle；110- rear-wheel shaft；Bridge before 200-；210- steering mechanism；211- deceleration unit；212- turns
To swing arm；The first pull rod of 213-；The second pull rod of 214-；220- left-hand rotation axle bed；230- right-hand rotation axle bed；300- wheel.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be arranged and be designed with a variety of different configurations.
Therefore, the detailed description of the embodiment of the present invention provided in the accompanying drawings is not intended to limit below claimed
The scope of the present invention, but be merely representative of selected embodiment of the invention.Based on the embodiments of the present invention, this field is common
Technical staff's every other embodiment obtained without creative efforts belongs to the model that the present invention protects
It encloses.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, or be somebody's turn to do
Invention product using when the orientation or positional relationship usually put, be merely for convenience of description of the present invention and simplification of the description, without
It is that the device of indication or suggestion meaning or element must have a particular orientation, be constructed and operated in a specific orientation, therefore not
It can be interpreted as limitation of the present invention.In addition, term " first ", " second ", " third " etc. are only used for distinguishing description, and cannot manage
Solution is indication or suggestion relative importance.
In addition, the terms such as term "horizontal", "vertical", " pendency " are not offered as requiring component abswolute level or pendency, and
It is that can be slightly tilted.It is not to indicate the structure if "horizontal" only refers to that its direction is more horizontal with respect to for "vertical"
It has to fully horizontally, but can be slightly tilted.
In the description of the present invention, it is also necessary to which explanation is unless specifically defined or limited otherwise, term " setting ",
" installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be fixedly connected, may be a detachable connection or one
Connect to body；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, it can also be indirect by intermediary
It is connected, can be the connection inside two elements.For the ordinary skill in the art, on being understood with concrete condition
State the concrete meaning of term in the present invention.
With reference to the accompanying drawing, it elaborates to some embodiments of the present invention.In the absence of conflict, following
Feature in embodiment and embodiment can be combined with each other.
Fig. 1 is the first top view of electrical steering assembly that the embodiment of the present invention one, two provides；
Fig. 2 is the top view when electrical steering assembly that the embodiment of the present invention one, two provides turns left；
Fig. 3 is the top view when electrical steering assembly that the embodiment of the present invention one, two provides is turned right；
The perspective view of preceding bridge 200 in the electrical steering assembly that Fig. 4 provides for the embodiment of the present invention one, two；
The top view of preceding bridge 200 in the electrical steering assembly that Fig. 5 provides for the embodiment of the present invention one, two；
The top view of steering mechanism 210 in the electrical steering assembly that Fig. 6 provides for the embodiment of the present invention one, two.
First embodiment:
FIG. 1 to FIG. 6 is please referred to, the present embodiment provides a kind of electrical steering assemblies comprising:
Rear axle 100, rear axle 100 are provided with rear-wheel shaft 110, and rear-wheel shaft 110 is driven by the dynamical system of automobile to be turned
It is dynamic；Preceding bridge 200, preceding bridge 200 are equipped with steering mechanism 210, left-hand rotation axle bed 220 and right-hand rotation axle bed 230.From bridge 200 forward of rear axle 100
It sees, left-hand rotation axle bed 220 and right-hand rotation axle bed 230 is respectively set in the left and right sides of steering mechanism 210；Steering mechanism 210 is able to drive
Left-hand rotation axle bed 220 and right-hand rotation axle bed 230 turn to simultaneously, and turn on the extended line of 220 upper shaft of left-hand rotation axle bed and right-hand rotation axle bed 230
The extended line of axis intersects with the extended line of rear-wheel shaft 110 always.
Fig. 6 is please referred to, steering mechanism 210 includes deceleration unit 211, turns to swing arm 212, the first pull rod 213, the second pull rod
214；Deceleration unit 211 is installed on preceding bridge 200, turns to swing arm 212 and is arranged on deceleration unit 211；The front end of left-hand rotation axle bed 220
First toggle is set, and the second toggle is arranged in rear end；Third toggle is arranged in the rear end of right-hand rotation axle bed 230；Left-hand rotation axle bed
220, it turns to swing arm 212 and right-hand rotation axle bed 230 is articulated with preceding bridge 200, one end articulation steering swing arm 212 of the first pull rod 213
Free end, hinged first toggle of the other end of the first pull rod 213；Hinged second toggle in one end of second pull rod 214, the
The hinged third toggle of the other end of two pull rods 214.Utilize hinged relationship and the relationship that is fixedly connected, the deceleration unit of multiple components
211 are able to drive the swing in the same direction for turning to swing arm 212 realization left-hand rotation axle bed 220 and right-hand rotation axle bed 230.
Please refer to FIG. 1 to FIG. 6, the intersection point between the first toggle and left-hand rotation axle bed 220 into preceding bridge 200 section it is vertical
Distance, greater than the vertical range of the section into preceding bridge 200 of the intersection point between the second toggle and left-hand rotation axle bed 220.Please refer to figure
3, the vertical range of intersection point section into preceding bridge 200 between the first toggle and left-hand rotation axle bed 220, be greater than third toggle with
The vertical range of intersection point section into preceding bridge 200 between right-hand rotation axle bed 230.By different mounting distances, make entirely to turn to
Mechanism 210 forms the trapezoidal structure design of approximate Ackermam, realizes left-hand rotation axle bed 220 and the different steering force of right-hand rotation axle bed 230
Arm, it is ensured that during turning to the swing of swing arm 212, the extended line of left rotary shaft and the extended line of right spindle are intersected in rear-wheel shaft
On 110 extended line.
Steering mechanism 210 is arranged in preceding bridge 200 in the electrical steering assembly of above-described embodiment, and rear axle 100 is by dynamical system
Driving traveling is advanced, and by turning function component and driving function component partition arrangement, can bring that steering torque is bigger, load energy
Power is stronger, the higher effect of reliability.As needed, the steering locking angle degree range of left-hand rotation axle bed 220 and right-hand rotation axle bed 230 is set
It is set to -40 °~40 °, wherein 0 ° of position is front, and negative angle is to turn left, and positive number angle is to turn right.Work as a left side
When 220 steering angle of shaft seat is -40 °, the steering angle of right-hand rotation axle bed 230 is -31.5 °, when 230 steering angle of right-hand rotation axle bed
When being 40 °, the steering angle of right-hand rotation axle bed 230 is 31.5 °.
Referring to figure 4., on the basis of the above embodiments, deceleration unit 211 includes spur reduction machine；Spur reduction machine connects
Switch through to swing arm 212 and steering swing arm 212 can be driven to swing.
Referring to figure 4., on the basis of the above embodiments, the reduction ratio of spur reduction machine is 15:1 to 25:1, is preferably set
It is set to 20:1.
Referring to figure 4., on the basis of the above embodiments, deceleration unit 211 further includes Brushless DC drive device；It is brushless straight
Stream driver connection spur reduction machine is simultaneously able to drive the operating of spur reduction machine.
Second embodiment:
Fig. 7 is the angle acquisition circuit of electrical steering assembly provided by Embodiment 2 of the present invention.FIG. 1 to FIG. 7 is please referred to, this
Embodiment provides a kind of electrical steering assembly, and roughly the same with the electrical steering assembly of first embodiment, the difference of the two exists
In the electrical steering assembly of the present embodiment further include controller and angular transducer；Before controller and angular transducer are all set in
Bridge 200, angular transducer, controller and deceleration unit 211 are sequentially connected electrically, and angular transducer is for detecting left-hand rotation axle bed 220
With the rotational angle of right-hand rotation axle bed 230.
Fig. 7 is please referred to, angular transducer is rotational potentiometer.Wherein, rotational potentiometer calculates angle by acquisition resistance value
Degree.R1 is series limiting resistor in figure, and R2 is rotational potentiometer, the voltage of V1 acquisition input potentiometer, V2 acquisition knob adjusting
Voltage afterwards, angle and potentiometer resistance are linear relationship, then potentiometer angle are as follows:
Wherein θ is mechanical angle, R2' it is resistance value of the potentiometer brush to GND, according to Ohm's law:
Wherein I is branch current, then
θ is current angle.
The electrical steering assembly of above-described embodiment, the real-time steering angle degree that controller can be monitored according to angular transducer
According to the angle of rotation needed for changing the deflection angle or setting front-wheel of front-wheel.
In addition, electrical steering assembly joined angle compensation in angle control, first in order to improve angle control precision
The first current revolving speed of estimation motor, then the angle after motor stops is calculated by current revolving speed, then controlled with this angle
System.To solve the problems, such as motor response lag.
The variation of angle be by motor drag speed reducer rotate realize, turn to assembly angle control when, need than
The distance of faster time rotation very little.But motor, in terms of speed control, acceleration, slowing down has a change procedure, in electricity
Machine compares quick rotation revolving speed is arranged suddenly when being 0, and motor still can rotate a certain distance, can in control process if do not handled
Middle appearance is than more serious over control.On the other hand, the time of motor acceleration and deceleration is the numerical value that can be set, and can pass through motor
The acceleration and deceleration speed that revolving speed and electric machine controller setting is arranged goes the estimation true speed of motor, and by speed considerations to currently
In the angle of acquisition, then execute control.
The revolving speed of motor is estimated by following steps:
1. it is 0 that initial velocity, which is arranged, if detecting that motor drive direction changes, 0 equally is set by speed.
2. according to the actual revolution (speed_ for comparing last moment setting volume motor speed (pwm_out) with calculating
Real), judge current state.
If motor accelerates 3. the revolving speed of last moment setting is greater than actual speed (pwm_out > speed_real),
But speed is not more than the speed set, then updates true velocity:
speedreal=speedreal+Acc×Dt,speedreal<speedset (0.5)
If the revolving speed of last moment setting is less than actual speed (pwm_out < speed_real), decelerating through motor, but
It is the speed that speed will not be less than setting, then updates true velocity:
speedreal=speedreal-Acc×Dt,speedreal>speedset (0.6)
When the speed of setting and present speed gap are bigger, motor needs the process of an acceleration to get to,
Speed_real is exactly the present speed estimated according to acceleration, after thus value can go computing controller to stop output, electricity
Then the angle that chance continues to rotate participates in control into current angle with this angle compensation, can reduce showing for overshoot
As.
Angle compensation are as follows: the angle that moderating process rotates after current angle position+present speed stops,
The following are the processes that offset angle is added:
degest=degcur+speedreal×dt×0.5 (0.7)
PID control
PID controller is made of proportional unit (P), integral unit (I) and differentiation element (D).It inputs e (t) and output u
(t) relationship are as follows:
The bound integrated in formula is 0 and t therefore its transmission function respectively are as follows:
Wherein kp is proportionality coefficient；TI is integration time constant；TD is derivative time constant.The basis of PID control is ratio
Example control；Integration control can eliminate steady-state error, but can increase overshoot；Differential control can accelerate Great inertia system response speed
And weaken overshoot trend.It can stop no longer exporting after rotateing in place due to steering system, so steady-state error is not present, and
And it is larger by response speed and inertia effects, response speed and overshoot are mainly solved the problems, such as, so using PD control device.
Out=Kp × err+kd × errd (0.10)
Err=degset-degest (0.11)
3rd embodiment:
The present embodiment provides a kind of electric cars comprising wheel 300, suspension, dynamical system, vehicle frame and as above-mentioned
Electrical steering assembly；Wheel 300 is set to rear-wheel shaft 110, left-hand rotation axle bed 220 and right-hand rotation axle bed 230, preceding bridge 200, rear axle
100 are set to rear axle 100 by suspension connecting vehicle frame, dynamical system, for driving rear-wheel shaft 110 to rotate.
The electric car of above-described embodiment is provided with above-mentioned electrical steering assembly, under the premise of guaranteeing enough torques, to the greatest extent
The quality that suspension and chassis may greatly be reduced, improves the payload of electric car.
These are only the preferred embodiment of the present invention, is not intended to restrict the invention, for those skilled in the art
For member, the invention may be variously modified and varied.All within the spirits and principles of the present invention, it is made it is any modification,
Equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of electrical steering assembly characterized by comprising
Rear axle, the rear axle are provided with rear-wheel shaft, and the rear-wheel shaft drives rotation by the dynamical system of automobile；
Preceding bridge, the preceding bridge are equipped with steering mechanism, left-hand rotation axle bed and right-hand rotation axle bed, and the left and right sides of the steering mechanism is set respectively
Set the left-hand rotation axle bed and the right-hand rotation axle bed；
The steering mechanism is able to drive the left-hand rotation axle bed and the right-hand rotation axle bed while turning to, and turns on the left-hand rotation axle bed
Extended line of the extended line of axis with the extended line of the right-hand rotation axle bed upper shaft always with rear-wheel shaft intersects.
2. electrical steering assembly according to claim 1, which is characterized in that the steering mechanism includes deceleration unit, turns
To swing arm, the first pull rod, the second pull rod；
The deceleration unit is installed on the preceding bridge, and the steering swing arm is arranged on the deceleration unit；
The first toggle is arranged in the front end of the left-hand rotation axle bed, and the second toggle is arranged in rear end；The rear end of the right-hand rotation axle bed is set
Set third toggle；
The left-hand rotation axle bed, the steering swing arm and the right-hand rotation axle bed are articulated with the preceding bridge, and the one of first pull rod
The hinged free end for turning to swing arm in end, hinged first toggle of the other end of first pull rod；
Hinged second toggle in one end of second pull rod, the hinged third torsion of the other end of second pull rod
Arm.
3. electrical steering assembly according to claim 2, which is characterized in that first toggle and the left-hand rotation axle bed
Between intersection point section into the preceding bridge vertical range, greater than the friendship between second toggle and the left-hand rotation axle bed
The vertical range of point section into the preceding bridge.
4. electrical steering assembly according to claim 2, which is characterized in that first toggle and the left-hand rotation axle bed
Between intersection point section into the preceding bridge vertical range, greater than the friendship between the third toggle and the right-hand rotation axle bed
The vertical range of point section into the preceding bridge.
5. electrical steering assembly according to claim 2, which is characterized in that the deceleration unit includes spur reduction machine；
The spur reduction machine connects the steering swing arm and the steering swing arm can be driven to swing.
6. electrical steering assembly according to claim 5, which is characterized in that the reduction ratio of the spur reduction machine is 15:1
To 25:1.
7. electrical steering assembly according to claim 5, which is characterized in that the deceleration unit further includes that brushless direct-current drives
Dynamic device；The Brushless DC drive device connects the spur reduction machine and is able to drive the spur reduction machine operating.
8. electrical steering assembly according to claim 2, which is characterized in that further include controller and angular transducer；Institute
It states controller and the angular transducer is all set in the preceding bridge, the angular transducer, the controller and the deceleration
Unit is sequentially connected electrically, and the angular transducer is used to detect the rotational angle of the left-hand rotation axle bed and the right-hand rotation axle bed.
9. electrical steering assembly according to claim 8, which is characterized in that the angular transducer is rotational potentiometer.
10. a kind of electric car, which is characterized in that including wheel, suspension, dynamical system, vehicle frame and such as claim 1~9
Described in any item electrical steering assemblies；The wheel is set to the rear-wheel shaft, the left-hand rotation axle bed and the right spindle
Seat, the preceding bridge, the rear axle connect the vehicle frame by the suspension, and the dynamical system is set to the rear axle, is used for
The rear-wheel shaft is driven to rotate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910548043.6A CN110254505A (en) | 2019-06-21 | 2019-06-21 | A kind of electrical steering assembly and electric car |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910548043.6A CN110254505A (en) | 2019-06-21 | 2019-06-21 | A kind of electrical steering assembly and electric car |
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| Publication Number | Publication Date |
|---|---|
| CN110254505A true CN110254505A (en) | 2019-09-20 |
Family
ID=67920690
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910548043.6A Pending CN110254505A (en) | 2019-06-21 | 2019-06-21 | A kind of electrical steering assembly and electric car |
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| CN (1) | CN110254505A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2019023A1 (en) * | 2007-07-24 | 2009-01-28 | Peugeot Citroen Automobiles SA | Steering rear end for automobile, comprising a deformable wheel pivot |
| DE102010048260A1 (en) * | 2010-10-12 | 2012-04-12 | Volkswagen Ag | Method for automatically determining strut suspension movement of e.g. rear wheel of lorry, involves determining suspension movement of rear wheel based on vehicle traveling speed and suspension movements of front wheels and rear axle |
| CN104245379A (en) * | 2012-02-02 | 2014-12-24 | 舍弗勒技术有限两合公司 | Electrical power train for the steerable axle of a motor vehicle |
| CN106985904A (en) * | 2017-04-14 | 2017-07-28 | 北京航天发射技术研究所 | A kind of swing arm middle doube bridge steering |
| CN208484546U (en) * | 2018-05-14 | 2019-02-12 | 解宇 | A kind of preceding bridge is equipped with the high-arch tractor of differential lock |
| CN210212516U (en) * | 2019-06-21 | 2020-03-31 | 北京九星智元科技有限公司 | Electronic steering assembly and electric automobile |
-
2019
- 2019-06-21 CN CN201910548043.6A patent/CN110254505A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2019023A1 (en) * | 2007-07-24 | 2009-01-28 | Peugeot Citroen Automobiles SA | Steering rear end for automobile, comprising a deformable wheel pivot |
| DE102010048260A1 (en) * | 2010-10-12 | 2012-04-12 | Volkswagen Ag | Method for automatically determining strut suspension movement of e.g. rear wheel of lorry, involves determining suspension movement of rear wheel based on vehicle traveling speed and suspension movements of front wheels and rear axle |
| CN104245379A (en) * | 2012-02-02 | 2014-12-24 | 舍弗勒技术有限两合公司 | Electrical power train for the steerable axle of a motor vehicle |
| CN106985904A (en) * | 2017-04-14 | 2017-07-28 | 北京航天发射技术研究所 | A kind of swing arm middle doube bridge steering |
| CN208484546U (en) * | 2018-05-14 | 2019-02-12 | 解宇 | A kind of preceding bridge is equipped with the high-arch tractor of differential lock |
| CN210212516U (en) * | 2019-06-21 | 2020-03-31 | 北京九星智元科技有限公司 | Electronic steering assembly and electric automobile |
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