CN110723195A - Hub motor distributed electric drive automobile steering device and steering method thereof - Google Patents

Hub motor distributed electric drive automobile steering device and steering method thereof Download PDF

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Publication number
CN110723195A
CN110723195A CN201910911270.0A CN201910911270A CN110723195A CN 110723195 A CN110723195 A CN 110723195A CN 201910911270 A CN201910911270 A CN 201910911270A CN 110723195 A CN110723195 A CN 110723195A
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China
Prior art keywords
steering
wheel
connecting rod
gear
rack
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CN201910911270.0A
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Chinese (zh)
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CN110723195B (en
Inventor
提艳
王蓉
石先让
宋廷伦
李涛
张艳磊
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Nanjing University of Aeronautics and Astronautics
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Nanjing University of Aeronautics and Astronautics
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D3/00—Steering gears
    • B62D3/02—Steering gears mechanical
    • B62D3/12—Steering gears mechanical of rack-and-pinion type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/182—Selecting between different operative modes, e.g. comfort and performance modes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/105—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/20—Steering systems
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/64—Electric machine technologies in electromobility

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Power Steering Mechanism (AREA)

Abstract

The invention discloses a hub motor distributed electric drive automobile steering device and a method thereof. The control module is respectively connected with the driving mode switching module, the front steering module and the rear steering module and is used for controlling the front steering module and the rear steering module to work according to the data of the driving mode switching module, so that the automobile can work in three modes: four-wheel steering mode, fixed-point zero-radius steering mode and transverse driving mode.

Description

Hub motor distributed electric drive automobile steering device and steering method thereof
Technical Field
The invention relates to the technical field of in-wheel motor distributed electric drive automobiles, in particular to an in-wheel motor distributed electric drive automobile steering device and a steering method thereof.
Background
New energy automobiles become the main direction of automobile industry development in various countries, and are also the research hotspots of various automobile enterprises and colleges. Among them, in the electric automobile field, the wheel hub motor distributed electric drive automobile has great development potential, and satisfies the national plan for developing new energy automobiles for a long time. Meanwhile, with the continuous increase of the automobile holding capacity, the problems of traffic congestion, lack of parking spaces and the like are seriously troubled. Because the transverse stabilizer bar of the traditional automobile steering system exists, the steering angle of the front wheel is limited to-35 degrees to +35 degrees, the steering flexibility is poor, and the automobile can turn around to run, enter and exit a garage, park and the like, so that a large space is needed, and energy waste is also caused.
Disclosure of Invention
The invention aims to solve the technical problem of providing a hub motor distributed electric drive automobile steering device and a steering method thereof aiming at the defects in the prior automobile steering system technology, and the device and the method can realize fixed-point zero-radius steering or transverse driving of an automobile in a narrow space range.
The invention adopts the following technical scheme for solving the technical problems:
a wheel hub motor distributed electric drive automobile steering device comprises a front steering module, a rear steering module, a driving mode switching module and a control module;
the front steering module comprises a steering wheel, a steering column, a steering intermediate shaft, a steering shaft, a driving steering gear, first to third transmission bevel gears, a driven steering gear, first to second hub motors, first to third meshing gear rings, first to second front steering racks, a front left conduction unit and a front right conduction unit;
the first wheel hub motor, the second wheel hub motor, the third wheel hub motor, the fourth wheel hub motor, the fifth wheel hub motor, the sixth wheel hub;
one end of the steering column is vertically and fixedly connected with the center of the steering wheel, and the other end of the steering column is connected with one end of the steering intermediate shaft through a universal joint; the other end of the steering intermediate shaft is connected with one end of the steering shaft through a universal joint;
the driving steering gear, the first transmission bevel gear, the second transmission bevel gear and the driven steering gear are all hollow gears, and the third transmission bevel gear is a solid gear;
the steering shaft sequentially penetrates through the driving steering gear, the first meshing gear ring, the first transmission bevel gear, the second meshing gear ring, the driven bevel gear and the third meshing gear ring, wherein the driving steering gear is fixedly connected with the steering shaft; the first transmission bevel gear, the second transmission bevel gear and the driven bevel gear are connected with the steering shaft through bearings and can freely rotate relative to the steering shaft; the first to third meshing gear rings are sleeved on the steering shaft, one end of the first meshing gear ring is connected with the driving steering gear, the other end of the first meshing gear ring is connected with the first transmission bevel gear, one end of the second meshing gear ring is connected with the second transmission bevel gear, the other end of the second meshing gear ring is connected with the driven steering gear, one end of the third meshing gear ring is connected with the onion section steering gear, and the other end of the third meshing gear ring is fixedly connected with the steering shaft; the driving steering gear, the first meshing gear ring, the first transmission bevel gear, the second meshing gear ring, the driven bevel gear and the third meshing gear ring are all coaxial with the steering shaft; the third transmission bevel gear is arranged on the frame and is respectively meshed with the first transmission bevel gear and the second transmission bevel gear;
the first front steering rack and the second front steering rack are arranged in parallel at the front part of the frame and are vertical to the steering shaft, and the driving steering gear and the driven steering gear are respectively meshed with the first front steering rack and the second front steering rack;
the output ends of the second front steering rack and the first front steering rack are respectively connected with the first hub motor and the second hub motor through the front left conduction unit and the front right conduction unit; the front left conducting unit and the front right conducting unit are respectively used for transmitting the steering torque of the steering wheel to the left front wheel and the right front wheel of the automobile; the rear steering module comprises third to fourth hub motors, first to second slide rails, first to second slide blocks, first to fourth connecting rods, a rear left conduction unit and a rear right conduction unit;
the third hub motor and the fourth hub motor are arranged at the left rear wheel and the right rear wheel of the automobile, and the rotors are fixedly connected with rims of the left rear wheel and the right rear wheel of the automobile respectively and are used for driving the left rear wheel and the right rear wheel of the automobile to rotate respectively;
the first sliding rail and the second sliding rail are arranged at the rear part of the frame in parallel and are both vertical to the steering shaft; the first sliding block and the second sliding block are respectively arranged on the first sliding rail and the second sliding rail and can freely slide; the first connecting rod and the second connecting rod are fixedly connected with the first sliding block and the second sliding block respectively, and the first connecting rod and the second connecting rod are parallel to the first sliding rail;
one ends of the third connecting rod and the fourth connecting rod are fixedly connected with the output ends of the first front steering rack and the second front steering rack respectively, and the other ends of the third connecting rod and the fourth connecting rod are fixedly connected with one ends of the first connecting rod and the second connecting rod respectively; the other ends of the second connecting rod and the first connecting rod are respectively connected with the third hub motor and the fourth hub motor through the rear left conducting unit and the rear right conducting unit; the rear left conduction unit and the rear right conduction unit are respectively used for transmitting the steering torque to a left rear wheel and a right rear wheel of the automobile; the driving mode switching module is used for sending a driving mode selected by a user to the control module, and the driving mode comprises three modes: a four-wheel steering mode, a fixed-point zero-radius steering mode and a transverse driving mode;
the control module is electrically connected with the running mode switching module, the first to fourth hub motors and the first to third meshing gear rings respectively and used for controlling the first to fourth hub motors and the first to third meshing gear rings to work according to data of the running mode switching module.
As a further optimization scheme of the hub motor distributed electric drive automobile steering device and the steering method thereof, the front left conduction unit, the front right conduction unit, the rear left conduction unit and the rear right conduction unit respectively comprise a steering tie rod, a steering knuckle and a control arm, wherein one end of the control arm is connected with a frame through a ball pin, and the other end of the control arm is connected with the steering knuckle; one end of the steering tie rod is connected with the steering knuckle;
the steering knuckles of the front left conducting unit, the front right conducting unit, the rear left conducting unit and the rear right conducting unit are fixedly connected with the centers of the stators of the first to fourth hub motors respectively; the other ends of the tie rods of the front left conducting unit, the front right conducting unit, the rear left conducting unit and the rear right conducting unit are respectively connected with the output end of the first steering rack, the output end of the second steering rack, one end of the first connecting rod far away from the third connecting rod and one end of the second connecting rod far away from the fourth connecting rod.
The invention also discloses a steering device of the wheel hub motor distributed electric drive automobile and a conventional four-wheel steering method of the steering method, which comprises the following specific steps:
step A.1), a driver selects a conventional four-wheel steering mode through a driving mode switching module, and the driving mode switching module transmits the information to a control module;
step A.2), the control module controls the first front meshing gear ring to be in a meshing state, and controls the second meshing gear ring to be in a meshing state and the third meshing gear ring to be in a separated state;
step A.3), when a driver rotates a steering wheel, the torque of the steering wheel sequentially passes through a steering column, a steering intermediate shaft, a steering shaft, a driving steering gear, a first transmission bevel gear, a third transmission bevel gear, a second transmission bevel gear and a driven steering gear; the driving steering gear drives the first front steering rack to move, and the driven steering gear drives the second front steering rack to move; the second front steering rack and the first front steering rack transmit the steering torque of the steering wheel to the left front wheel and the right front wheel through the front left transmission unit and the front right transmission unit respectively;
and step A.4), the first front steering rack and the second front steering rack drive the first connecting rod and the second connecting rod to move through the third connecting rod and the fourth connecting rod respectively, and the second connecting rod and the first connecting rod enable the left rear wheel and the right rear wheel to finish steering through the rear left conducting unit and the rear right conducting unit respectively.
The invention also discloses a distributed electric drive automobile steering device of the wheel hub motor and a fixed point zero radius steering method of the steering method, which comprises the following steps:
step B.1), a driver selects a fixed-point zero-radius steering mode through a driving mode switching module, and the driving mode switching module transmits the information to a control module;
step B.2), the control module controls the first front meshing gear ring to be in a separated state, and controls the second meshing gear ring to be in a separated state and the third meshing gear ring to be in a meshing state;
step B.3), the driver rotates the steering wheel, and the torque of the steering wheel sequentially passes through the steering column, the steering intermediate shaft, the steering shaft, the driving steering gear and the driven steering gear; the driving steering gear drives the first front steering rack to move, and the driven steering gear drives the second front steering rack to move; the second front steering rack and the first front steering rack transmit the steering torque of the steering wheel to the left front wheel and the right front wheel through the front left conduction unit and the front right conduction unit respectively, so that the turning angles arctan (L/d) of the left front wheel and the right front wheel are enabled, L represents the automobile wheelbase, d represents the wheelbase, and the steering of the two front wheels is completed;
and step B.4), the first front steering rack and the second front steering rack drive the first connecting rod and the second connecting rod to move through the third connecting rod and the fourth connecting rod respectively, and the second connecting rod and the first connecting rod enable the wheel rotation angles of the left rear wheel and the right rear wheel to be arctan (L/d) through the rear left conduction unit and the rear right conduction unit respectively.
The invention also discloses a distributed electric drive automobile steering device of the wheel hub motor and a transverse driving method of the steering method of the distributed electric drive automobile steering device, which comprises the following specific steps:
step C.1), the driver selects a transverse driving mode through the driving mode switching module, and the driving mode switching module transmits the information to the control module;
step C.2), the control module controls the first front meshing gear ring to be in a separated state, the second meshing gear ring to be in a separated state and the third meshing gear ring to be in a meshing state;
step C.3), when a driver rotates a steering wheel, the steering wheel moment sequentially passes through a steering column, a steering intermediate shaft, a steering shaft, a driving steering gear and a driven steering gear; the driving steering gear drives the first front steering rack to move, and the driven steering gear drives the second front steering rack to move; the second front steering rack and the first front steering rack transmit the steering torque of the steering wheel to the left front wheel and the right front wheel through the front left conduction unit and the front right conduction unit respectively, so that the rotation angles of the left front wheel and the right front wheel are 90 degrees;
and C.4), the first front steering rack and the second front steering rack drive the first connecting rod and the second connecting rod to move through the third connecting rod and the fourth connecting rod respectively, and the second connecting rod and the first connecting rod enable the rotation angles of the left rear wheel and the right rear wheel of the automobile to be 90 degrees through the rear left conduction unit and the rear right conduction unit respectively.
Compared with the prior art, the invention adopting the technical scheme has the following technical effects:
the hub motor distributed electric drive automobile steering device is different from the traditional automobile steering device, not only can realize the conventional steering mode during normal driving, but also can realize the special working conditions of fixed-point zero-radius steering and transverse driving, improves the flexibility of the steering movement of the automobile, reduces the required space for turning around driving and parking, and is simple and convenient to operate.
Drawings
FIG. 1 is a schematic top view of the overall structure of the present invention;
FIG. 2 is a schematic structural diagram of a front wheel steering module of the present invention;
FIG. 3 is a schematic illustration of a conventional steering mode of the present invention;
FIG. 4 is a schematic diagram of the fixed point zero radius steering mode of the present invention;
fig. 5 is a schematic view of the lateral traveling mode in the present invention.
In the figure, 1-a steering wheel, 2-a front portion of a frame, 3-a rear portion of the frame, 4-a hub motor, 5-a left front wheel, 6-a steering column, 7-a steering intermediate shaft, 8-a steering shaft, 9-a driving steering gear, 10-a first transmission bevel gear, 11-a second transmission bevel gear, 12-a third transmission bevel gear, 13-a driven steering gear, 14-a right front wheel, 15-a first meshing gear ring, 16-a second meshing gear ring, 17-a third meshing gear ring, 18A-a tie rod of a front left conducting unit, 18B-a tie rod of a front right conducting unit, 18C-a tie rod of a rear left conducting unit, 18D-a tie rod of a rear right conducting unit, 19A-a knuckle of a front left conducting unit, 19B-the knuckle of the front right conducting unit, 19C-the knuckle of the rear left conducting unit, 19D-the knuckle of the rear right conducting unit, 20A-the control arm of the front left conducting unit, 20B-the control arm of the front right conducting unit, 20C-the control arm of the rear left conducting unit, 20D-the control arm of the rear right conducting unit, 21A-the first front steering rack, 21B-the second front steering rack, 22-the universal joint, 23A-the first connecting rod, 23B-the second connecting rod, 24-the third connecting rod, and 25-the fourth connecting rod.
Detailed Description
The technical scheme of the invention is further explained in detail by combining the attached drawings:
the present invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. In the drawings, components are exaggerated for clarity.
As shown in fig. 1, the invention discloses a hub motor distributed electric-driven automobile steering device, which comprises a front steering module, a rear steering module, a driving mode switching module and a control module;
as shown in fig. 2, the front steering module includes a steering wheel, a steering column, a steering intermediate shaft, a steering shaft, a driving steering gear, first to third transmission bevel gears, a driven steering gear, first to second in-wheel motors, first to third meshing gear rings, first to second front steering racks, a front left conduction unit, and a front right conduction unit;
the first wheel hub motor, the second wheel hub motor, the third wheel hub motor, the fourth wheel hub motor, the fifth wheel hub motor, the sixth wheel hub;
one end of the steering column is vertically and fixedly connected with the center of the steering wheel, and the other end of the steering column is connected with one end of the steering intermediate shaft through a universal joint; the other end of the steering intermediate shaft is connected with one end of the steering shaft through a universal joint;
the driving steering gear, the first transmission bevel gear, the second transmission bevel gear and the driven steering gear are all hollow gears, and the third transmission bevel gear is a solid gear;
the steering shaft sequentially penetrates through the driving steering gear, the first meshing gear ring, the first transmission bevel gear, the second meshing gear ring, the driven bevel gear and the third meshing gear ring, wherein the driving steering gear is fixedly connected with the steering shaft; the first transmission bevel gear, the second transmission bevel gear and the driven bevel gear are connected with the steering shaft through bearings and can freely rotate relative to the steering shaft; the first to third meshing gear rings are sleeved on the steering shaft, one end of the first meshing gear ring is connected with the driving steering gear, the other end of the first meshing gear ring is connected with the first transmission bevel gear, one end of the second meshing gear ring is connected with the second transmission bevel gear, the other end of the second meshing gear ring is connected with the driven steering gear, one end of the third meshing gear ring is connected with the onion section steering gear, and the other end of the third meshing gear ring is fixedly connected with the steering shaft; the driving steering gear, the first meshing gear ring, the first transmission bevel gear, the second meshing gear ring, the driven bevel gear and the third meshing gear ring are all coaxial with the steering shaft; the third transmission bevel gear is arranged on the frame and is respectively meshed with the first transmission bevel gear and the second transmission bevel gear;
the first front steering rack and the second front steering rack are arranged in parallel at the front part of the frame and are vertical to the steering shaft, and the driving steering gear and the driven steering gear are respectively meshed with the first front steering rack and the second front steering rack;
the output ends of the second front steering rack and the first front steering rack are respectively connected with the first hub motor and the second hub motor through the front left conduction unit and the front right conduction unit; the front left conducting unit and the front right conducting unit are respectively used for transmitting the steering torque of the steering wheel to the left front wheel and the right front wheel of the automobile;
the rear steering module comprises third to fourth hub motors, first to second slide rails, first to second slide blocks, first to fourth connecting rods, a rear left conduction unit and a rear right conduction unit;
the third hub motor and the fourth hub motor are arranged at the left rear wheel and the right rear wheel of the automobile, and the rotors are fixedly connected with rims of the left rear wheel and the right rear wheel of the automobile respectively and are used for driving the left rear wheel and the right rear wheel of the automobile to rotate respectively;
the first sliding rail and the second sliding rail are arranged at the rear part of the frame in parallel and are both vertical to the steering shaft; the first sliding block and the second sliding block are respectively arranged on the first sliding rail and the second sliding rail and can freely slide; the first connecting rod and the second connecting rod are fixedly connected with the first sliding block and the second sliding block respectively, and the first connecting rod and the second connecting rod are parallel to the first sliding rail;
one ends of the third connecting rod and the fourth connecting rod are fixedly connected with the output ends of the first front steering rack and the second front steering rack respectively, and the other ends of the third connecting rod and the fourth connecting rod are fixedly connected with one ends of the first connecting rod and the second connecting rod respectively; the other ends of the second connecting rod and the first connecting rod are respectively connected with the third hub motor and the fourth hub motor through the rear left conducting unit and the rear right conducting unit; the rear left conduction unit and the rear right conduction unit are respectively used for transmitting the steering torque to a left rear wheel and a right rear wheel of the automobile;
the driving mode switching module is used for sending a driving mode selected by a user to the control module, and the driving mode comprises three modes: a four-wheel steering mode, a fixed-point zero-radius steering mode and a transverse driving mode;
the control module is electrically connected with the running mode switching module, the first to fourth hub motors and the first to third meshing gear rings respectively and used for controlling the first to fourth hub motors and the first to third meshing gear rings to work according to data of the running mode switching module.
As a further optimization scheme of the hub motor distributed electric drive automobile steering device and the steering method thereof, the front left conduction unit, the front right conduction unit, the rear left conduction unit and the rear right conduction unit respectively comprise a steering tie rod, a steering knuckle and a control arm, wherein one end of the control arm is connected with a frame through a ball pin, and the other end of the control arm is connected with the steering knuckle; one end of the steering tie rod is connected with the steering knuckle;
the steering knuckles of the front left conducting unit, the front right conducting unit, the rear left conducting unit and the rear right conducting unit are fixedly connected with the centers of the stators of the first to fourth hub motors respectively; the other ends of the tie rods of the front left conducting unit, the front right conducting unit, the rear left conducting unit and the rear right conducting unit are respectively connected with the output end of the first steering rack, the output end of the second steering rack, one end of the first connecting rod far away from the third connecting rod and one end of the second connecting rod far away from the fourth connecting rod.
As shown in fig. 3, the invention also discloses a conventional four-wheel steering method of the in-wheel motor distributed electric drive automobile steering device and the steering method thereof, which comprises the following specific steps:
step A.1), a driver selects a conventional four-wheel steering mode through a driving mode switching module, and the driving mode switching module transmits the information to a control module;
step A.2), the control module controls the first front meshing gear ring to be in a meshing state, and controls the second meshing gear ring to be in a meshing state and the third meshing gear ring to be in a separated state;
step A.3), when a driver rotates a steering wheel, the torque of the steering wheel sequentially passes through a steering column, a steering intermediate shaft, a steering shaft, a driving steering gear, a first transmission bevel gear, a third transmission bevel gear, a second transmission bevel gear and a driven steering gear; the driving steering gear drives the first front steering rack to move, and the driven steering gear drives the second front steering rack to move; the second front steering rack and the first front steering rack transmit the steering torque of the steering wheel to the left front wheel and the right front wheel through the front left transmission unit and the front right transmission unit respectively;
and step A.4), the first front steering rack and the second front steering rack drive the first connecting rod and the second connecting rod to move through the third connecting rod and the fourth connecting rod respectively, and the second connecting rod and the first connecting rod enable the left rear wheel and the right rear wheel to finish steering through the rear left conducting unit and the rear right conducting unit respectively.
As shown in fig. 4, the invention also discloses a fixed point zero radius steering method of the in-wheel motor distributed electric drive automobile steering device and the steering method thereof, which comprises the following specific steps:
step B.1), a driver selects a fixed-point zero-radius steering mode through a driving mode switching module, and the driving mode switching module transmits the information to a control module;
step B.2), the control module controls the first front meshing gear ring to be in a separated state, and controls the second meshing gear ring to be in a separated state and the third meshing gear ring to be in a meshing state;
step B.3), the driver rotates the steering wheel, and the torque of the steering wheel sequentially passes through the steering column, the steering intermediate shaft, the steering shaft, the driving steering gear and the driven steering gear; the driving steering gear drives the first front steering rack to move, and the driven steering gear drives the second front steering rack to move; the second front steering rack and the first front steering rack transmit the steering torque of the steering wheel to the left front wheel and the right front wheel through the front left conduction unit and the front right conduction unit respectively, so that the turning angles arctan (L/d) of the left front wheel and the right front wheel are enabled, L represents the automobile wheelbase, d represents the wheelbase, and the steering of the two front wheels is completed;
and step B.4), the first front steering rack and the second front steering rack drive the first connecting rod and the second connecting rod to move through the third connecting rod and the fourth connecting rod respectively, and the second connecting rod and the first connecting rod enable the wheel rotation angles of the left rear wheel and the right rear wheel to be arctan (L/d) through the rear left conduction unit and the rear right conduction unit respectively.
As shown in fig. 5, the invention also discloses a steering device of the wheel hub motor distributed electric drive automobile and a transverse driving method of the steering device, which comprises the following specific steps:
step C.1), the driver selects a transverse driving mode through the driving mode switching module, and the driving mode switching module transmits the information to the control module;
step C.2), the control module controls the first front meshing gear ring to be in a separated state, the second meshing gear ring to be in a separated state and the third meshing gear ring to be in a meshing state;
step C.3), when a driver rotates a steering wheel, the steering wheel moment sequentially passes through a steering column, a steering intermediate shaft, a steering shaft, a driving steering gear and a driven steering gear; the driving steering gear drives the first front steering rack to move, and the driven steering gear drives the second front steering rack to move; the second front steering rack and the first front steering rack transmit the steering torque of the steering wheel to the left front wheel and the right front wheel through the front left conduction unit and the front right conduction unit respectively, so that the rotation angles of the left front wheel and the right front wheel are 90 degrees;
and C.4), the first front steering rack and the second front steering rack drive the first connecting rod and the second connecting rod to move through the third connecting rod and the fourth connecting rod respectively, and the second connecting rod and the first connecting rod enable the rotation angles of the left rear wheel and the right rear wheel of the automobile to be 90 degrees through the rear left conduction unit and the rear right conduction unit respectively.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The above-mentioned embodiments, objects, technical solutions and advantages of the present invention are further described in detail, it should be understood that the above-mentioned embodiments are only illustrative of the present invention and are not intended to limit the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (5)

1. A wheel hub motor distributed electric drive automobile steering device is characterized by comprising a front steering module, a rear steering module, a driving mode switching module and a control module;
the front steering module comprises a steering wheel, a steering column, a steering intermediate shaft, a steering shaft, a driving steering gear, first to third transmission bevel gears, a driven steering gear, first to second hub motors, first to third meshing gear rings, first to second front steering racks, a front left conduction unit and a front right conduction unit;
the first wheel hub motor, the second wheel hub motor, the third wheel hub motor, the fourth wheel hub motor, the fifth wheel hub motor, the sixth wheel hub;
one end of the steering column is vertically and fixedly connected with the center of the steering wheel, and the other end of the steering column is connected with one end of the steering intermediate shaft through a universal joint; the other end of the steering intermediate shaft is connected with one end of the steering shaft through a universal joint;
the driving steering gear, the first transmission bevel gear, the second transmission bevel gear and the driven steering gear are all hollow gears, and the third transmission bevel gear is a solid gear;
the steering shaft sequentially penetrates through the driving steering gear, the first meshing gear ring, the first transmission bevel gear, the second meshing gear ring, the driven bevel gear and the third meshing gear ring, wherein the driving steering gear is fixedly connected with the steering shaft; the first transmission bevel gear, the second transmission bevel gear and the driven bevel gear are connected with the steering shaft through bearings and can freely rotate relative to the steering shaft; the first to third meshing gear rings are sleeved on the steering shaft, one end of the first meshing gear ring is connected with the driving steering gear, the other end of the first meshing gear ring is connected with the first transmission bevel gear, one end of the second meshing gear ring is connected with the second transmission bevel gear, the other end of the second meshing gear ring is connected with the driven steering gear, one end of the third meshing gear ring is connected with the onion section steering gear, and the other end of the third meshing gear ring is fixedly connected with the steering shaft; the driving steering gear, the first meshing gear ring, the first transmission bevel gear, the second meshing gear ring, the driven bevel gear and the third meshing gear ring are all coaxial with the steering shaft; the third transmission bevel gear is arranged on the frame and is respectively meshed with the first transmission bevel gear and the second transmission bevel gear;
the first front steering rack and the second front steering rack are arranged in parallel at the front part of the frame and are vertical to the steering shaft, and the driving steering gear and the driven steering gear are respectively meshed with the first front steering rack and the second front steering rack;
the output ends of the second front steering rack and the first front steering rack are respectively connected with the first hub motor and the second hub motor through the front left conduction unit and the front right conduction unit; the front left conducting unit and the front right conducting unit are respectively used for transmitting the steering torque of the steering wheel to the left front wheel and the right front wheel of the automobile;
the rear steering module comprises third to fourth hub motors, first to second slide rails, first to second slide blocks, first to fourth connecting rods, a rear left conduction unit and a rear right conduction unit;
the third hub motor and the fourth hub motor are arranged at the left rear wheel and the right rear wheel of the automobile, and the rotors are fixedly connected with rims of the left rear wheel and the right rear wheel of the automobile respectively and are used for driving the left rear wheel and the right rear wheel of the automobile to rotate respectively;
the first sliding rail and the second sliding rail are arranged at the rear part of the frame in parallel and are both vertical to the steering shaft; the first sliding block and the second sliding block are respectively arranged on the first sliding rail and the second sliding rail and can freely slide; the first connecting rod and the second connecting rod are fixedly connected with the first sliding block and the second sliding block respectively, and the first connecting rod and the second connecting rod are parallel to the first sliding rail;
one ends of the third connecting rod and the fourth connecting rod are fixedly connected with the output ends of the first front steering rack and the second front steering rack respectively, and the other ends of the third connecting rod and the fourth connecting rod are fixedly connected with one ends of the first connecting rod and the second connecting rod respectively; the other ends of the second connecting rod and the first connecting rod are respectively connected with the third hub motor and the fourth hub motor through the rear left conducting unit and the rear right conducting unit; the rear left conduction unit and the rear right conduction unit are respectively used for transmitting the steering torque to a left rear wheel and a right rear wheel of the automobile;
the driving mode switching module is used for sending a driving mode selected by a user to the control module, and the driving mode comprises three modes: a four-wheel steering mode, a fixed-point zero-radius steering mode and a transverse driving mode;
the control module is electrically connected with the running mode switching module, the first to fourth hub motors and the first to third meshing gear rings respectively and used for controlling the first to fourth hub motors and the first to third meshing gear rings to work according to data of the running mode switching module.
2. The in-wheel motor distributed electric drive automobile steering device according to claim 1, wherein the front left conducting unit, the front right conducting unit, the rear left conducting unit and the rear right conducting unit each comprise a tie rod, a steering knuckle and a control arm, wherein one end of the control arm is connected with the automobile frame through a ball pin, and the other end of the control arm is connected with the steering knuckle; one end of the steering tie rod is connected with the steering knuckle;
the steering knuckles of the front left conducting unit, the front right conducting unit, the rear left conducting unit and the rear right conducting unit are fixedly connected with the centers of the stators of the first to fourth hub motors respectively; the other ends of the tie rods of the front left conducting unit, the front right conducting unit, the rear left conducting unit and the rear right conducting unit are respectively connected with the output end of the first steering rack, the output end of the second steering rack, one end of the first connecting rod far away from the third connecting rod and one end of the second connecting rod far away from the fourth connecting rod.
3. The conventional four-wheel steering method based on the in-wheel motor distributed electric drive automobile steering device and the steering method thereof as claimed in claim 1 is characterized by comprising the following specific steps:
step A.1), a driver selects a conventional four-wheel steering mode through a driving mode switching module, and the driving mode switching module transmits the information to a control module;
step A.2), the control module controls the first front meshing gear ring to be in a meshing state, and controls the second meshing gear ring to be in a meshing state and the third meshing gear ring to be in a separated state;
step A.3), when a driver rotates a steering wheel, the torque of the steering wheel sequentially passes through a steering column, a steering intermediate shaft, a steering shaft, a driving steering gear, a first transmission bevel gear, a third transmission bevel gear, a second transmission bevel gear and a driven steering gear; the driving steering gear drives the first front steering rack to move, and the driven steering gear drives the second front steering rack to move; the second front steering rack and the first front steering rack transmit the steering torque of the steering wheel to the left front wheel and the right front wheel through the front left transmission unit and the front right transmission unit respectively;
and step A.4), the first front steering rack and the second front steering rack drive the first connecting rod and the second connecting rod to move through the third connecting rod and the fourth connecting rod respectively, and the second connecting rod and the first connecting rod enable the left rear wheel and the right rear wheel to finish steering through the rear left conducting unit and the rear right conducting unit respectively.
4. The in-wheel motor distributed electric drive automobile steering device and the fixed point zero radius steering method based on the in-wheel motor distributed electric drive automobile steering method of claim 1 are characterized by comprising the following specific steps:
step B.1), a driver selects a fixed-point zero-radius steering mode through a driving mode switching module, and the driving mode switching module transmits the information to a control module;
step B.2), the control module controls the first front meshing gear ring to be in a separated state, and controls the second meshing gear ring to be in a separated state and the third meshing gear ring to be in a meshing state;
step B.3), the driver rotates the steering wheel, and the torque of the steering wheel sequentially passes through the steering column, the steering intermediate shaft, the steering shaft, the driving steering gear and the driven steering gear; the driving steering gear drives the first front steering rack to move, and the driven steering gear drives the second front steering rack to move; the second front steering rack and the first front steering rack transmit the steering torque of the steering wheel to the left front wheel and the right front wheel through the front left conduction unit and the front right conduction unit respectively, so that the turning angles arctan (L/d) of the left front wheel and the right front wheel are enabled, L represents the automobile wheelbase, d represents the wheelbase, and the steering of the two front wheels is completed;
and step B.4), the first front steering rack and the second front steering rack drive the first connecting rod and the second connecting rod to move through the third connecting rod and the fourth connecting rod respectively, and the second connecting rod and the first connecting rod enable the wheel rotation angles of the left rear wheel and the right rear wheel to be arctan (L/d) through the rear left conduction unit and the rear right conduction unit respectively.
5. The transverse driving method of the in-wheel motor distributed electric drive automobile steering device and the steering method thereof based on the claim 1 is characterized by comprising the following specific steps:
step C.1), the driver selects a transverse driving mode through the driving mode switching module, and the driving mode switching module transmits the information to the control module;
step C.2), the control module controls the first front meshing gear ring to be in a separated state, the second meshing gear ring to be in a separated state and the third meshing gear ring to be in a meshing state;
step C.3), when a driver rotates a steering wheel, the steering wheel moment sequentially passes through a steering column, a steering intermediate shaft, a steering shaft, a driving steering gear and a driven steering gear; the driving steering gear drives the first front steering rack to move, and the driven steering gear drives the second front steering rack to move; the second front steering rack and the first front steering rack transmit the steering torque of the steering wheel to the left front wheel and the right front wheel through the front left conduction unit and the front right conduction unit respectively, so that the rotation angles of the left front wheel and the right front wheel are 90 degrees;
and C.4), the first front steering rack and the second front steering rack drive the first connecting rod and the second connecting rod to move through the third connecting rod and the fourth connecting rod respectively, and the second connecting rod and the first connecting rod enable the rotation angles of the left rear wheel and the right rear wheel of the automobile to be 90 degrees through the rear left conduction unit and the rear right conduction unit respectively.
CN201910911270.0A 2019-09-25 2019-09-25 Distributed electric drive automobile steering device with hub motor and steering method thereof Active CN110723195B (en)

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