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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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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steering
wheel
connecting rod
gear
rack
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CN110723195B (en
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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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    • 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)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Power Steering Mechanism (AREA)

Abstract

本发明公开了一种轮毂电机分布式电驱动汽车转向装置及其方法，转向装置包含前转向模块、后转向模块、行驶模式切换模块和控制模块。控制模块分别和行驶模式切换模块、前转向模块、后转向模块相连，用于根据行驶模式切换模块的数据控制前转向模块、后转向模块工作，使得汽车能够工作在三种模式：四轮转向模式、定点零半径转向模式、横向行驶模式。

Figure 201910911270

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

Figure 201910911270

Description

一种轮毂电机分布式电驱动汽车转向装置及其转向方法A kind of in-wheel motor distributed electric drive vehicle steering device and steering method thereof

技术领域technical field

本发明涉及轮毂电机分布式电驱动汽车技术领域，尤其涉及一种轮毂电机分布式电驱动汽车转向装置及其转向方法。The invention relates to the technical field of in-wheel motor distributed electric drive vehicles, in particular to a steering device for in-wheel motor distributed electric drive vehicles and a steering method thereof.

背景技术Background technique

新能源汽车已经成为各个国家汽车工业发展的主要方向，同时也是各大汽车企业和高校的探究热点。其中，电动汽车领域中，轮毂电机分布式电驱动汽车的发展潜力较大，满足国家长期发展新能源汽车的计划。同时，随着汽车保有量的不断增加，交通拥挤，停车位紧张等问题，严重困扰着人们。因为传统汽车转向系统横向稳定杆的存在，导致前轮转向角被限制在-35°至+35°，具有较差的转向灵活性，调头行驶，进出车库，停车等不仅需要较大的空间，而且还会造成能源浪费。New energy vehicles have become the main direction of the development of the automobile industry in various countries, and are also the research hotspots of major automobile companies and universities. Among them, in the field of electric vehicles, the development potential of in-wheel motor distributed electric drive vehicles is relatively large, which meets the country's long-term development plan for new energy vehicles. At the same time, with the continuous increase of car ownership, traffic congestion, tight parking spaces and other problems have seriously troubled people. Because of the existence of the stabilizer bar in the traditional automobile steering system, the steering angle of the front wheel is limited to -35° to +35°, which has poor steering flexibility, turning around, entering and leaving the garage, parking, etc. not only require a large space, And it will also cause energy waste.

发明内容SUMMARY OF THE INVENTION

本发明所要解决的技术问题是针对原有汽车转向系统技术中的不足，提供一种轮毂电机分布式电驱动汽车转向装置及其转向方法，能够实现汽车在狭小空间范围内定点零半径转向或横向行驶。The technical problem to be solved by the present invention is to aim at the deficiencies in the original automobile steering system technology, and to provide an in-wheel motor distributed electric drive automobile steering device and a steering method thereof, which can realize fixed-point zero-radius steering or lateral steering in a narrow space. drive.

本发明为解决上述技术问题采用以下技术方案:The present invention adopts the following technical solutions for solving the above-mentioned technical problems:

一种轮毂电机分布式电驱动汽车转向装置，包含前转向模块、后转向模块、行驶模式切换模块和控制模块；An in-wheel motor distributed electric drive vehicle steering device, comprising a front steering module, a rear steering module, a driving mode switching module and a control module;

所述前转向模块包含方向盘、转向柱、转向中间轴、转向轴、驱动转向齿轮、第一至第三传动锥齿轮、从动转向齿轮、第一至第二轮毂电机、第一至第三啮合齿圈、第一至第二前转向齿条、前左传导单元和前右传导单元；The front steering module includes a steering wheel, a steering column, a steering intermediate shaft, a steering shaft, a driving steering gear, the first to third transmission bevel gears, the driven steering gear, the first to second wheel hub motors, and the first to third meshing gears. a ring gear, first to second front steering racks, a front left transmission unit and a front right transmission unit;

所述第一至第二轮毂电机设置在汽车左前车轮、右前车轮处，转子分别和汽车左前车轮、右前车轮的轮辋固连，分别用于驱动汽车左前车轮、右前车轮转动；The first to second in-wheel motors are arranged at the left front wheel and the right front wheel of the automobile, and the rotors are respectively fixed to the rims of the left front wheel and the right front wheel of the automobile, and are respectively used to drive the left front wheel and the right front wheel of the automobile to rotate;

所述转向柱一端和方向盘中心垂直固连，另一端通过万向节和所述转向中间轴的一端相连；所述转向中间轴的另一端通过万向节和所述转向轴的一端相连；One end of the steering column is vertically connected to the center of the steering wheel, and the other end is connected to one end of the steering intermediate shaft through a universal joint; the other end of the steering intermediate shaft is connected to one end of the steering shaft through a universal joint;

所述驱动转向齿轮、第一传动锥齿轮、第二传动锥齿轮、从动转向齿轮均为空心齿轮，所述第三传动锥齿轮为实心齿轮；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;

所述转向轴依次穿过所述驱动转向齿轮、第一啮合齿圈、第一传动锥齿轮、第二传动锥齿轮、第二啮合齿圈、从动锥齿轮、第三啮合齿圈，其中，所述驱动转向齿轮和所述转向轴固连；所述第一传动锥齿轮、第二传动锥齿轮、从动锥齿轮均通过轴承和所述转向轴相连，能够相对转向轴自由转动；所述第一至第三啮合齿圈套在所述转向轴上，所述第一啮合齿圈一端和所述驱动转向齿轮相连、另一端和所述第一传动锥齿轮相连，所述第二啮合齿圈一端和所述第二传动锥齿轮相连、另一端和所述从动转向齿轮相连，所述第三啮合齿圈一端和所述葱段转向齿轮相连，另一端和所述转向轴固连；所述驱动转向齿轮、第一啮合齿圈、第一传动锥齿轮、第二传动锥齿轮、第二啮合齿圈、从动锥齿轮、第三啮合齿圈均和所述转向轴同轴；所述第三传动锥齿轮设置在车架上，且分别和所述第一传动锥齿轮、第二传动锥齿轮啮合；The steering shaft passes through the driving steering gear, the first meshing ring gear, the first transmission bevel gear, the second transmission bevel gear, the second meshing ring gear, the driven bevel gear, and the third meshing ring gear in sequence, wherein, The driving steering gear and the steering shaft are fixedly connected; the first transmission bevel gear, the second transmission bevel gear, and the driven bevel gear are all connected with the steering shaft through bearings, and can rotate freely relative to the steering shaft; the The first to third meshing ring gears are sleeved on the steering shaft, one end of the first meshing ring gear is connected with the driving steering gear, the other end is connected with the first transmission bevel gear, and the second meshing ring gear is One end is connected to the second drive bevel gear, the other end is connected to the driven steering gear, one end of the third meshing ring gear is connected to the onion segment steering gear, and the other end is fixedly connected to the steering shaft; The driving steering gear, the first meshing ring gear, the first transmission bevel gear, the second transmission bevel gear, the second meshing ring gear, the driven bevel gear, and the third meshing ring gear are all coaxial with the steering shaft; the The third transmission bevel gear is arranged on the frame and meshes with the first transmission bevel gear and the second transmission bevel gear respectively;

所述第一前转向齿条、第二前转向齿条平行设置在所述车架前部且均和所述转向轴垂直，所述驱动转向齿轮、从动转向齿轮分别和所述第一前转向齿条、第二前转向齿条啮合；The first front steering rack and the second front steering rack are arranged in parallel at the front of the frame and are both perpendicular to the steering shaft, and the driving steering gear and the driven steering gear are respectively connected to the first front steering gear. The steering rack and the second front steering rack are engaged;

所述第二前转向齿条、第一前转向齿条的输出端分别通过前左传导单元、前右传导单元和第一轮毂电机、第二轮毂电机相连；所述前左传导单元、前右传导单元分别用于将方向盘的转向力矩传递至汽车的左前车轮、右前车轮； 所述后转向模块包含第三至第四轮毂电机、第一至第二滑轨、第一至第二滑块、第一至第四连杆、后左传导单元和后右传导单元；The output ends of the second front steering rack and the first front steering rack are connected to the first wheel hub motor and the second wheel hub motor through the front left conduction unit and the front right conduction unit respectively; The conduction units are respectively used to transmit the steering torque of the steering wheel to the left front wheel and the right front wheel of the car; the rear steering module includes third to fourth wheel motors, first to second slide rails, first to second sliders, the first to fourth links, the rear left conduction unit and the rear right conduction unit;

所述第三轮毂电机、第四轮毂电机设置在汽车左后车轮、右后车轮处，转子分别和汽车左后车轮、右后车轮的轮辋固连，分别用于驱动汽车左后车轮、右后车轮转动；The third in-wheel motor and the fourth in-wheel motor are arranged at the left rear wheel and the right rear wheel of the automobile, and the rotors are respectively fixed to the rims of the left rear wheel and the right rear wheel of the automobile, and are respectively used to drive the left rear wheel and the right rear wheel of the automobile. wheel turning;

所述第一滑轨、第二滑轨平行设置在所述车架后部且均和所述转向轴垂直；所述第一滑块、第二滑块分别设置在所述第一滑轨、第二滑轨上，能够自由滑动；所述第一连杆、第二连杆分别和所述第一滑块、第二滑块固连，且第一连杆、第二连杆均和所述第一滑轨平行；The first sliding rail and the second sliding rail are arranged in parallel at the rear of the frame and are both perpendicular to the steering shaft; the first sliding block and the second sliding block are respectively arranged on the first sliding rail, On the second slide rail, it can slide freely; the first connecting rod and the second connecting rod are respectively fixedly connected with the first sliding block and the second sliding block, and the first connecting rod and the second connecting rod are both connected with the first and second sliding blocks. the first slide rail is parallel;

所述第三连杆、第四连杆的一端分别和第一前转向齿条、第二前转向齿条的输出端固连，第三连杆、第四连杆的另一端分别和第一连杆、第二连杆的一端固连；所述第二连杆、第一连杆的另一端分别通过后左传导单元、后右传导单元和第三轮毂电机、第四轮毂电机相连；所述后左传导单元、后右传导单元分别用于将转向力矩传递至汽车的左后车轮、右后车轮；所述行驶模式切换模块用于将用户选择的行驶模式发送给所述控制模块，所述行驶模式包含三种模式：四轮转向模式、定点零半径转向模式、横向行驶模式；One ends of the third connecting rod and the fourth connecting rod are respectively fixedly connected with the output ends of the first front steering rack and the second front steering rack, and the other ends of the third connecting rod and the fourth connecting rod are respectively connected with the first front steering rack and the output end of the second front steering rack. One end of the connecting rod and the second connecting rod are fixedly connected; the other ends of the second connecting rod and the first connecting rod are respectively connected with the third wheel hub motor and the fourth wheel hub motor through the rear left conduction unit and the rear right conduction unit; The rear left conduction unit and the rear right conduction unit are respectively used to transmit the steering torque to the left rear wheel and the right rear wheel of the car; the driving mode switching module is used to send the driving mode selected by the user to the control module, so The above driving mode includes three modes: four-wheel steering mode, fixed-point zero-radius steering mode, and lateral driving mode;

所述控制模块分别和行驶模式切换模块、第一至第四轮毂电机、第一至第三啮合齿圈电气相连，用于根据行驶模式切换模块的数据控制第一至第四轮毂电机、第一至第三啮合齿圈工作。The control module is electrically connected to the driving mode switching module, the first to fourth wheel motors, and the first to third meshing ring gears, respectively, and is used for controlling the first to fourth wheel motors, the first to fourth wheel motors, the first to fourth wheel motors according to the data of the driving mode switching module. To the third meshing ring gear work.

作为本发明一种轮毂电机分布式电驱动汽车转向装置及其转向方法进一步的优化方案，所述前左传导单元、前右传导单元、后左传导单元、后右传导单元均包含转向横拉杆、转向节、控制臂，其中，控制臂一端通过球销和车架相连、另一端和转向节连接；转向横拉杆的一端和转向节连接；As a further optimization scheme of the in-wheel motor distributed electric drive vehicle steering device and steering method thereof of the present invention, the front left conduction unit, the front right conduction unit, the rear left conduction unit, and the rear right conduction unit all include a steering tie rod, A steering knuckle and a control arm, wherein one end of the control arm is connected with the frame through a ball pin, and the other end is connected with the steering knuckle; one end of the steering tie rod is connected with the steering knuckle;

前左传导单元、前右传导单元、后左传导单元、后右传导单元的转向节分别和第一至第四轮毂电机定子的中心固连；前左传导单元、前右传导单元、后左传导单元、后右传导单元的转向横拉杆的另一端分别和第一转向齿条的输出端、第二转向齿条的输出端、第一连杆远离第三连杆的一端、第二连杆远离第四连杆的一端相连。The steering knuckles of the front left conduction unit, the front right conduction unit, the rear left conduction unit, and the rear right conduction unit are respectively fixed to the center of the stator of the first to fourth in-wheel motors; the front left conduction unit, the front right conduction unit, the rear left conduction unit The other end of the steering tie rod of the unit and the rear right transmission unit is respectively connected with the output end of the first steering rack, the output end of the second steering rack, the end of the first link away from the third link, and the second link away from the One end of the fourth link is connected.

本发明还公开了一种该轮毂电机分布式电驱动汽车转向装置及其转向方法的常规四轮转向方法，具体步骤如下：The invention also discloses a conventional four-wheel steering method of the in-wheel motor distributed electric drive vehicle steering device and steering method thereof. The specific steps are as follows:

步骤A.1），驾驶员通过行驶模式切换模块选择常规四轮转向模式，行驶模式切换模块将该信息传递给控制模块；Step A.1), the driver selects the conventional four-wheel steering mode through the driving mode switching module, and the driving mode switching module transmits the information to the control module;

步骤A.2），控制模块控制第一前啮合齿圈处于啮合状态，并控制第二啮合齿圈处于啮合状态、第三啮合齿圈处于分离状态；Step A.2), the control module controls the first front meshing ring gear to be in the meshing state, and controls the second meshing ring gear to be in the meshing state, and the third meshing gear to be in the disengaged state;

步骤A.3），驾驶员转动方向盘时，方向盘力矩依次经过转向柱、转向中间轴、转向轴、驱动转向齿轮、第一传动锥齿轮、第三传动锥齿轮、第二传动锥齿轮、从动转向齿轮；驱动转向齿轮带动第一前转向齿条运动，从动转向齿轮带动第二前转向齿条运动；第二前转向齿条、第一前转向齿条分别通过前左传导单元、前右传导单元将方向盘的转向力矩传递到左前车轮、右前车轮；Step A.3), when the driver turns the steering wheel, the steering wheel torque passes through the steering column, the steering intermediate shaft, the steering shaft, the driving steering gear, the first transmission bevel gear, the third transmission bevel gear, the second transmission bevel 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 pass through the front left transmission unit, the front right The transmission unit transmits the steering torque of the steering wheel to the left front wheel and the right front wheel;

步骤A.4），第一前转向齿条、第二前转向齿条分别经过第三连杆、第四连杆带动第一连杆、第二连杆运动，第二连杆、第一连杆分别通过后左传导单元、后右传导单元将使得左后车轮、右后车轮完成转向。Step A.4), the first front steering rack and the second front steering rack drive the first link and the second link to move through the third link and the fourth link respectively, and the second link and the first link move. The rods pass through the rear left transmission unit and the rear right transmission unit respectively to make the left rear wheel and the right rear wheel complete the steering.

本发明还公开了一种该轮毂电机分布式电驱动汽车转向装置及其转向方法的定点零半径转向方法，具体步骤如下：The invention also discloses a fixed-point zero-radius steering method of the in-wheel motor distributed electric drive vehicle steering device and steering method thereof, and the specific steps are as follows:

步骤B.1），驾驶员通过行驶模式切换模块选择定点零半径转向模式，行驶模式切换模块将该信息传递给控制模块；Step B.1), the driver selects the fixed-point zero-radius steering mode through the driving mode switching module, and the driving mode switching module transmits the information to the control module;

步骤B.2），控制模块控制第一前啮合齿圈处于分离状态，并控制第二啮合齿圈处于分离状态、第三啮合齿圈处于啮合状态；Step B.2), the control module controls the first front meshing ring gear to be in a disengaged state, and controls the second meshing ring gear to be in a disengaged state, and the third meshing ring gear to be in an engaged state;

步骤B.3），驾驶员转动方向盘，方向盘力矩依次经过转向柱、转向中间轴、转向轴、驱动转向齿轮、从动转向齿轮；驱动转向齿轮带动第一前转向齿条运动，从动转向齿轮带动第二前转向齿条运动；第二前转向齿条、第一前转向齿条分别通过前左传导单元、前右传导单元将方向盘的转向力矩传递到左前车轮、右前车轮，使得左前车轮、右前车轮的转角arctan(L/d)，L表示汽车轴距，d表示轮距，完成两前轮转向；Step B.3), the driver turns the steering wheel, and the steering wheel torque passes through the steering column, steering intermediate shaft, steering shaft, driving steering gear, and driven steering gear in turn; the driving steering gear drives the first front steering rack to move, and the driven steering gear Drive 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, so that the left front wheel, The turning angle of the right front wheel arctan (L/d), L represents the wheelbase of the car, d represents the wheelbase, and the steering of the two front wheels is completed;

步骤B.4），第一前转向齿条、第二前转向齿条分别经过第三连杆、第四连杆带动第一连杆、第二连杆运动，第二连杆、第一连杆分别通过后左传导单元、后右传导单元使得左后车轮、右后车轮的轮转角为arctan(L/d)。Step B.4), the first front steering rack and the second front steering rack drive the first link and the second link to move through the third link and the fourth link respectively, and the second link and the first link move. The rod passes through the rear left conduction unit and the rear right conduction unit respectively, so that the wheel rotation angle of the left rear wheel and the right rear wheel is arctan (L/d).

本发明还公开了一种该轮毂电机分布式电驱动汽车转向装置及其转向方法的横向行驶方法，具体步骤如下：The invention also discloses a lateral driving method of the in-wheel motor distributed electric drive automobile steering device and the steering method thereof. The specific steps are as follows:

步骤C.1），驾驶员通过行驶模式切换模块选择横向行驶模式，行驶模式切换模块将该信息传递给控制模块；Step C.1), the driver selects the lateral driving mode through the driving mode switching module, and the driving mode switching module transmits the information to the control module;

步骤C.2），控制模块控制第一前啮合齿圈处于分离状态、第二啮合齿圈处于分离状态、第三啮合齿圈处于啮合状态；Step C.2), the control module controls the first front meshing ring gear to be in a disengaged state, the second meshing ring gear is in a disengaged state, and the third meshing ring gear is in an engaged state;

步骤C.3），驾驶员转动方向盘时，方向盘力矩依次经过转向柱、转向中间轴、转向轴、驱动转向齿轮、从动转向齿轮；驱动转向齿轮带动第一前转向齿条运动，从动转向齿轮带动第二前转向齿条运动；第二前转向齿条、第一前转向齿条分别通过前左传导单元、前右传导单元将方向盘的转向力矩传递到左前车轮、右前车轮，使得左前车轮、右前车轮的转角为90°；Step C.3), when the driver turns the steering wheel, the steering wheel torque passes through the steering column, the steering intermediate shaft, the steering shaft, the driving steering gear, and the driven steering gear in turn; the driving steering gear drives the first front steering rack to move, and the driven steering The 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, so that the left front wheel , The turning angle of the right front wheel is 90°;

步骤C.4），第一前转向齿条、第二前转向齿条分别经过第三连杆、第四连杆带动第一连杆、第二连杆运动，第二连杆、第一连杆分别通过后左传导单元、后右传导单元使得汽车左后车轮、右后车轮转角为90°。Step C.4), the first front steering rack and the second front steering rack drive the first link and the second link to move through the third link and the fourth link respectively, and the second link and the first link move. The rod passes through the rear left conduction unit and the rear right conduction unit respectively, so that the left rear wheel and the right rear wheel of the car have a turning angle of 90°.

本发明采用以上技术方案与现有技术相比，具有以下技术效果：Compared with the prior art, the present invention adopts the above technical scheme, and has the following technical effects:

本发明中的轮毂电机分布式电驱动汽车转向装置不同于传统汽车转向装置，不仅能实现正常行驶时的常规转向模式，而且能够实现定点零半径转向、横向行驶的特殊工况，提高车辆转向运动的灵活性，减小调头行驶和停车的需求空间及操作简便。The in-wheel motor distributed electric drive automobile steering device of the present invention is different from the traditional automobile steering device, and can not only realize the normal steering mode during normal driving, but also realize the special working conditions of fixed-point zero-radius steering and lateral driving, and improve the steering motion of the vehicle. flexibility, reducing the space required for U-turn driving and parking, and easy operation.

附图说明Description of drawings

图1是本发明俯视整体结构示意图；1 is a schematic view of the overall structure of the present invention;

图2是本发明中前轮转向模块的结构示意图；Fig. 2 is the structural representation of the front wheel steering module in the present invention;

图3是本发明中常规转向模式的原理示意图；Fig. 3 is the principle schematic diagram of conventional steering mode in the present invention;

图4是本发明中定点零半径转向模式的原理示意图；Fig. 4 is the principle schematic diagram of fixed-point zero-radius steering mode in the present invention;

图5 是本发明中横向行驶模式的原理示意图。FIG. 5 is a schematic diagram of the principle of the lateral driving mode in the present invention.

图中，1-方向盘，2-车架的前部，3-车架的后部，4-轮毂电机，5-左前车轮，6-转向柱，7-转向中间轴，8-转向轴，9-驱动转向齿轮，10-第一传动锥齿轮，11-第二传动锥齿轮，12-第三传动锥齿轮，13-从动转向齿轮，14-右前车轮，15-第一啮合齿圈，16-第二啮合齿圈，17-第三啮合齿圈，18A-前左传导单元的转向横拉杆，18B-前右传导单元的转向横拉杆，18C-后左传导单元的转向横拉杆，18D-后右传导单元的转向横拉杆，19A-前左传导单元的转向节，19B-前右传导单元的转向节，19C-后左传导单元的转向节，19D-后右传导单元的转向节，20A-前左传导单元的控制臂, 20B-前右传导单元的控制臂, 20C-后左传导单元的控制臂, 20D-后右传导单元的控制臂, 21A-第一前转向齿条，21B-第二前转向齿条，22-万向节，23A-第一连杆，23B-第二连杆，24-第三连杆，25-第四连杆。In the picture, 1- steering wheel, 2- front of frame, 3- rear of frame, 4- hub motor, 5- front left wheel, 6- steering column, 7- steering intermediate shaft, 8- steering shaft, 9 - Drive steering gear, 10- First drive bevel gear, 11- Second drive bevel gear, 12- Third drive bevel gear, 13- Driven steering gear, 14- Right front wheel, 15- First meshing ring gear, 16 -Second meshing ring gear, 17-Third meshing ring gear, 18A- Tie rod for front left transmission unit, 18B- Tie rod for front right transmission unit, 18C- Tie rod for rear left transmission unit, 18D- Tie rod for rear right conduction unit, 19A - steering knuckle for front left conduction unit, 19B - steering knuckle for front right conduction unit, 19C - steering knuckle for rear left conduction unit, 19D - steering knuckle for rear right conduction unit, 20A -Control arm of front left conduction unit, 20B-Control arm of front right conduction unit, 20C-Control arm of rear left conduction unit, 20D-Control arm of rear right conduction unit, 21A-First front steering rack, 21B- The second front steering rack, 22- universal joint, 23A- the first link, 23B- the second link, 24- the third link, 25- the fourth link.

具体实施方式Detailed ways

下面结合附图对本发明的技术方案做进一步的详细说明：Below in conjunction with accompanying drawing, the technical scheme of the present invention is described in further detail:

本发明可以以许多不同的形式实现，而不应当认为限于这里所述的实施例。相反，提供这些实施例以便使本公开透彻且完整，并且将向本领域技术人员充分表达本发明的范围。在附图中，为了清楚起见放大了组件。The present invention may be embodied in many different forms and should not be considered limited to the embodiments described 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.

如图1所述，本发明公开了一种轮毂电机分布式电驱动汽车转向装置，包含前转向模块、后转向模块、行驶模式切换模块和控制模块；As shown in FIG. 1 , the present invention discloses a steering device for an in-wheel motor distributed electric drive vehicle, which includes a front steering module, a rear steering module, a driving mode switching module and a control module;

如图2所示，所述前转向模块包含方向盘、转向柱、转向中间轴、转向轴、驱动转向齿轮、第一至第三传动锥齿轮、从动转向齿轮、第一至第二轮毂电机、第一至第三啮合齿圈、第一至第二前转向齿条、前左传导单元和前右传导单元；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 ring gears, first to second front steering racks, front left conduction unit and front right conduction unit;

所述第一至第二轮毂电机设置在汽车左前车轮、右前车轮处，转子分别和汽车左前车轮、右前车轮的轮辋固连，分别用于驱动汽车左前车轮、右前车轮转动；The first to second in-wheel motors are arranged at the left front wheel and the right front wheel of the automobile, and the rotors are respectively fixed to the rims of the left front wheel and the right front wheel of the automobile, and are respectively used to drive the left front wheel and the right front wheel of the automobile to rotate;

所述转向柱一端和方向盘中心垂直固连，另一端通过万向节和所述转向中间轴的一端相连；所述转向中间轴的另一端通过万向节和所述转向轴的一端相连；One end of the steering column is vertically connected to the center of the steering wheel, and the other end is connected to one end of the steering intermediate shaft through a universal joint; the other end of the steering intermediate shaft is connected to one end of the steering shaft through a universal joint;

所述驱动转向齿轮、第一传动锥齿轮、第二传动锥齿轮、从动转向齿轮均为空心齿轮，所述第三传动锥齿轮为实心齿轮；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;

所述转向轴依次穿过所述驱动转向齿轮、第一啮合齿圈、第一传动锥齿轮、第二传动锥齿轮、第二啮合齿圈、从动锥齿轮、第三啮合齿圈，其中，所述驱动转向齿轮和所述转向轴固连；所述第一传动锥齿轮、第二传动锥齿轮、从动锥齿轮均通过轴承和所述转向轴相连，能够相对转向轴自由转动；所述第一至第三啮合齿圈套在所述转向轴上，所述第一啮合齿圈一端和所述驱动转向齿轮相连、另一端和所述第一传动锥齿轮相连，所述第二啮合齿圈一端和所述第二传动锥齿轮相连、另一端和所述从动转向齿轮相连，所述第三啮合齿圈一端和所述葱段转向齿轮相连，另一端和所述转向轴固连；所述驱动转向齿轮、第一啮合齿圈、第一传动锥齿轮、第二传动锥齿轮、第二啮合齿圈、从动锥齿轮、第三啮合齿圈均和所述转向轴同轴；所述第三传动锥齿轮设置在车架上，且分别和所述第一传动锥齿轮、第二传动锥齿轮啮合；The steering shaft passes through the driving steering gear, the first meshing ring gear, the first transmission bevel gear, the second transmission bevel gear, the second meshing ring gear, the driven bevel gear, and the third meshing ring gear in sequence, wherein, The driving steering gear and the steering shaft are fixedly connected; the first transmission bevel gear, the second transmission bevel gear, and the driven bevel gear are all connected with the steering shaft through bearings, and can rotate freely relative to the steering shaft; the The first to third meshing ring gears are sleeved on the steering shaft, one end of the first meshing ring gear is connected with the driving steering gear, the other end is connected with the first transmission bevel gear, and the second meshing ring gear is One end is connected to the second drive bevel gear, the other end is connected to the driven steering gear, one end of the third meshing ring gear is connected to the onion segment steering gear, and the other end is fixedly connected to the steering shaft; The driving steering gear, the first meshing ring gear, the first transmission bevel gear, the second transmission bevel gear, the second meshing ring gear, the driven bevel gear, and the third meshing ring gear are all coaxial with the steering shaft; the The third transmission bevel gear is arranged on the frame and meshes with the first transmission bevel gear and the second transmission bevel gear respectively;

所述第一前转向齿条、第二前转向齿条平行设置在所述车架前部且均和所述转向轴垂直，所述驱动转向齿轮、从动转向齿轮分别和所述第一前转向齿条、第二前转向齿条啮合；The first front steering rack and the second front steering rack are arranged in parallel at the front of the frame and are both perpendicular to the steering shaft, and the driving steering gear and the driven steering gear are respectively connected to the first front steering gear. The steering rack and the second front steering rack are engaged;

所述第二前转向齿条、第一前转向齿条的输出端分别通过前左传导单元、前右传导单元和第一轮毂电机、第二轮毂电机相连；所述前左传导单元、前右传导单元分别用于将方向盘的转向力矩传递至汽车的左前车轮、右前车轮；The output ends of the second front steering rack and the first front steering rack are connected to the first wheel hub motor and the second wheel hub motor through the front left conduction unit and the front right conduction unit respectively; The transmission units are respectively used to transmit the steering torque of the steering wheel to the left front wheel and the right front wheel of the car;

所述后转向模块包含第三至第四轮毂电机、第一至第二滑轨、第一至第二滑块、第一至第四连杆、后左传导单元和后右传导单元；The rear steering module includes third to fourth in-wheel motors, first to second sliding rails, first to second sliding blocks, first to fourth connecting rods, rear left conduction unit and rear right conduction unit;

所述第三轮毂电机、第四轮毂电机设置在汽车左后车轮、右后车轮处，转子分别和汽车左后车轮、右后车轮的轮辋固连，分别用于驱动汽车左后车轮、右后车轮转动；The third in-wheel motor and the fourth in-wheel motor are arranged at the left rear wheel and the right rear wheel of the automobile, and the rotors are respectively fixed to the rims of the left rear wheel and the right rear wheel of the automobile, and are respectively used to drive the left rear wheel and the right rear wheel of the automobile. wheel turning;

所述第一滑轨、第二滑轨平行设置在所述车架后部且均和所述转向轴垂直；所述第一滑块、第二滑块分别设置在所述第一滑轨、第二滑轨上，能够自由滑动；所述第一连杆、第二连杆分别和所述第一滑块、第二滑块固连，且第一连杆、第二连杆均和所述第一滑轨平行；The first sliding rail and the second sliding rail are arranged in parallel at the rear of the frame and are both perpendicular to the steering shaft; the first sliding block and the second sliding block are respectively arranged on the first sliding rail, On the second slide rail, it can slide freely; the first connecting rod and the second connecting rod are respectively fixedly connected with the first sliding block and the second sliding block, and the first connecting rod and the second connecting rod are both connected with the first and second sliding blocks. the first slide rail is parallel;

所述第三连杆、第四连杆的一端分别和第一前转向齿条、第二前转向齿条的输出端固连，第三连杆、第四连杆的另一端分别和第一连杆、第二连杆的一端固连；所述第二连杆、第一连杆的另一端分别通过后左传导单元、后右传导单元和第三轮毂电机、第四轮毂电机相连；所述后左传导单元、后右传导单元分别用于将转向力矩传递至汽车的左后车轮、右后车轮；One ends of the third connecting rod and the fourth connecting rod are respectively fixedly connected with the output ends of the first front steering rack and the second front steering rack, and the other ends of the third connecting rod and the fourth connecting rod are respectively connected with the first front steering rack and the output end of the second front steering rack. One end of the connecting rod and the second connecting rod are fixedly connected; the other ends of the second connecting rod and the first connecting rod are respectively connected with the third wheel hub motor and the fourth wheel hub motor through the rear left conduction unit and the rear right conduction unit; The rear left conduction unit and the rear right conduction unit are respectively used to transmit the steering torque to the left rear wheel and the right rear wheel of the vehicle;

所述行驶模式切换模块用于将用户选择的行驶模式发送给所述控制模块，所述行驶模式包含三种模式：四轮转向模式、定点零半径转向模式、横向行驶模式；The driving mode switching module is configured to send the driving mode selected by the user to the control module, and the driving mode includes three modes: four-wheel steering mode, fixed-point zero-radius steering mode, and lateral driving mode;

所述控制模块分别和行驶模式切换模块、第一至第四轮毂电机、第一至第三啮合齿圈电气相连，用于根据行驶模式切换模块的数据控制第一至第四轮毂电机、第一至第三啮合齿圈工作。The control module is electrically connected to the driving mode switching module, the first to fourth wheel motors, and the first to third meshing ring gears, respectively, and is used for controlling the first to fourth wheel motors, the first to fourth wheel motors, the first to fourth wheel motors according to the data of the driving mode switching module. To the third meshing ring gear work.

作为本发明一种轮毂电机分布式电驱动汽车转向装置及其转向方法进一步的优化方案，所述前左传导单元、前右传导单元、后左传导单元、后右传导单元均包含转向横拉杆、转向节、控制臂，其中，控制臂一端通过球销和车架相连、另一端和转向节连接；转向横拉杆的一端和转向节连接；As a further optimization scheme of the in-wheel motor distributed electric drive vehicle steering device and steering method thereof of the present invention, the front left conduction unit, the front right conduction unit, the rear left conduction unit, and the rear right conduction unit all include a steering tie rod, A steering knuckle and a control arm, wherein one end of the control arm is connected with the frame through a ball pin, and the other end is connected with the steering knuckle; one end of the steering tie rod is connected with the steering knuckle;

前左传导单元、前右传导单元、后左传导单元、后右传导单元的转向节分别和第一至第四轮毂电机定子的中心固连；前左传导单元、前右传导单元、后左传导单元、后右传导单元的转向横拉杆的另一端分别和第一转向齿条的输出端、第二转向齿条的输出端、第一连杆远离第三连杆的一端、第二连杆远离第四连杆的一端相连。The steering knuckles of the front left conduction unit, the front right conduction unit, the rear left conduction unit, and the rear right conduction unit are respectively fixed to the center of the stator of the first to fourth in-wheel motors; the front left conduction unit, the front right conduction unit, the rear left conduction unit The other end of the steering tie rod of the unit and the rear right transmission unit is respectively connected with the output end of the first steering rack, the output end of the second steering rack, the end of the first link away from the third link, and the second link away from the One end of the fourth link is connected.

如图3所示，本发明还公开了一种该轮毂电机分布式电驱动汽车转向装置及其转向方法的常规四轮转向方法，具体步骤如下：As shown in Figure 3, the present invention also discloses a conventional four-wheel steering method of the in-wheel motor distributed electric drive vehicle steering device and steering method thereof, and the specific steps are as follows:

步骤A.1），驾驶员通过行驶模式切换模块选择常规四轮转向模式，行驶模式切换模块将该信息传递给控制模块；Step A.1), the driver selects the conventional four-wheel steering mode through the driving mode switching module, and the driving mode switching module transmits the information to the control module;

步骤A.2），控制模块控制第一前啮合齿圈处于啮合状态，并控制第二啮合齿圈处于啮合状态、第三啮合齿圈处于分离状态；Step A.2), the control module controls the first front meshing ring gear to be in the meshing state, and controls the second meshing ring gear to be in the meshing state, and the third meshing gear to be in the disengaged state;

步骤A.3），驾驶员转动方向盘时，方向盘力矩依次经过转向柱、转向中间轴、转向轴、驱动转向齿轮、第一传动锥齿轮、第三传动锥齿轮、第二传动锥齿轮、从动转向齿轮；驱动转向齿轮带动第一前转向齿条运动，从动转向齿轮带动第二前转向齿条运动；第二前转向齿条、第一前转向齿条分别通过前左传导单元、前右传导单元将方向盘的转向力矩传递到左前车轮、右前车轮；Step A.3), when the driver turns the steering wheel, the steering wheel torque passes through the steering column, the steering intermediate shaft, the steering shaft, the driving steering gear, the first transmission bevel gear, the third transmission bevel gear, the second transmission bevel 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 pass through the front left transmission unit, the front right The transmission unit transmits the steering torque of the steering wheel to the left front wheel and the right front wheel;

步骤A.4），第一前转向齿条、第二前转向齿条分别经过第三连杆、第四连杆带动第一连杆、第二连杆运动，第二连杆、第一连杆分别通过后左传导单元、后右传导单元将使得左后车轮、右后车轮完成转向。Step A.4), the first front steering rack and the second front steering rack drive the first link and the second link to move through the third link and the fourth link respectively, and the second link and the first link move. The rods pass through the rear left transmission unit and the rear right transmission unit respectively to make the left rear wheel and the right rear wheel complete the steering.

如图4所示，本发明还公开了一种该轮毂电机分布式电驱动汽车转向装置及其转向方法的定点零半径转向方法，具体步骤如下：As shown in FIG. 4 , the present invention also discloses a fixed-point zero-radius steering method for the in-wheel motor distributed electric drive vehicle steering device and steering method thereof. The specific steps are as follows:

步骤B.1），驾驶员通过行驶模式切换模块选择定点零半径转向模式，行驶模式切换模块将该信息传递给控制模块；Step B.1), the driver selects the fixed-point zero-radius steering mode through the driving mode switching module, and the driving mode switching module transmits the information to the control module;

步骤B.2），控制模块控制第一前啮合齿圈处于分离状态，并控制第二啮合齿圈处于分离状态、第三啮合齿圈处于啮合状态；Step B.2), the control module controls the first front meshing ring gear to be in a disengaged state, and controls the second meshing ring gear to be in a disengaged state, and the third meshing ring gear to be in an engaged state;

步骤B.3），驾驶员转动方向盘，方向盘力矩依次经过转向柱、转向中间轴、转向轴、驱动转向齿轮、从动转向齿轮；驱动转向齿轮带动第一前转向齿条运动，从动转向齿轮带动第二前转向齿条运动；第二前转向齿条、第一前转向齿条分别通过前左传导单元、前右传导单元将方向盘的转向力矩传递到左前车轮、右前车轮，使得左前车轮、右前车轮的转角arctan(L/d)，L表示汽车轴距，d表示轮距，完成两前轮转向；Step B.3), the driver turns the steering wheel, and the steering wheel torque passes through the steering column, steering intermediate shaft, steering shaft, driving steering gear, and driven steering gear in turn; the driving steering gear drives the first front steering rack to move, and the driven steering gear Drive 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, so that the left front wheel, The turning angle of the right front wheel arctan (L/d), L represents the wheelbase of the car, d represents the wheelbase, and the steering of the two front wheels is completed;

步骤B.4），第一前转向齿条、第二前转向齿条分别经过第三连杆、第四连杆带动第一连杆、第二连杆运动，第二连杆、第一连杆分别通过后左传导单元、后右传导单元使得左后车轮、右后车轮的轮转角为arctan(L/d)。Step B.4), the first front steering rack and the second front steering rack drive the first link and the second link to move through the third link and the fourth link respectively, and the second link and the first link move. The rod passes through the rear left conduction unit and the rear right conduction unit respectively, so that the wheel rotation angle of the left rear wheel and the right rear wheel is arctan (L/d).

如图5所示，本发明还公开了一种该轮毂电机分布式电驱动汽车转向装置及其转向方法的横向行驶方法，具体步骤如下：As shown in FIG. 5 , the present invention also discloses a lateral driving method of the in-wheel motor distributed electric drive vehicle steering device and steering method thereof. The specific steps are as follows:

步骤C.1），驾驶员通过行驶模式切换模块选择横向行驶模式，行驶模式切换模块将该信息传递给控制模块；Step C.1), the driver selects the lateral driving mode through the driving mode switching module, and the driving mode switching module transmits the information to the control module;

步骤C.2），控制模块控制第一前啮合齿圈处于分离状态、第二啮合齿圈处于分离状态、第三啮合齿圈处于啮合状态；Step C.2), the control module controls the first front meshing ring gear to be in a disengaged state, the second meshing ring gear is in a disengaged state, and the third meshing ring gear is in an engaged state;

步骤C.3），驾驶员转动方向盘时，方向盘力矩依次经过转向柱、转向中间轴、转向轴、驱动转向齿轮、从动转向齿轮；驱动转向齿轮带动第一前转向齿条运动，从动转向齿轮带动第二前转向齿条运动；第二前转向齿条、第一前转向齿条分别通过前左传导单元、前右传导单元将方向盘的转向力矩传递到左前车轮、右前车轮，使得左前车轮、右前车轮的转角为90°；Step C.3), when the driver turns the steering wheel, the steering wheel torque passes through the steering column, the steering intermediate shaft, the steering shaft, the driving steering gear, and the driven steering gear in turn; the driving steering gear drives the first front steering rack to move, and the driven steering The 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, so that the left front wheel , The turning angle of the right front wheel is 90°;

步骤C.4），第一前转向齿条、第二前转向齿条分别经过第三连杆、第四连杆带动第一连杆、第二连杆运动，第二连杆、第一连杆分别通过后左传导单元、后右传导单元使得汽车左后车轮、右后车轮转角为90°。Step C.4), the first front steering rack and the second front steering rack drive the first link and the second link to move through the third link and the fourth link respectively, and the second link and the first link move. The rod passes through the rear left conduction unit and the rear right conduction unit respectively, so that the left rear wheel and the right rear wheel of the car have a turning angle of 90°.

本技术领域技术人员可以理解的是，除非另外定义，这里使用的所有术语（包括技术术语和科学术语）具有与本发明所属领域中的普通技术人员的一般理解相同的意义。还应该理解的是，诸如通用字典中定义的那些术语应该被理解为具有与现有技术的上下文中的意义一致的意义，并且除非像这里一样定义，不会用理想化或过于正式的含义来解释。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 should also be understood that terms such as those defined in general dictionaries should be understood to have meanings consistent with their meanings in the context of the prior art and, unless defined as herein, are not to be taken in an idealized or overly formal sense. explain.

以上所述的具体实施方式，对本发明的目的、技术方案和有益效果进行了进一步详细说明，所应理解的是，以上所述仅为本发明的具体实施方式而已，并不用于限制本发明，凡在本发明的精神和原则之内，所做的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。The specific embodiments described above further describe the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above descriptions are only specific embodiments of the present invention, and are not intended to limit the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within 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.
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CN207208182U (en) * 2017-09-05 2018-04-10 杭州伯坦科技工程有限公司 Four motorized wheels independent steering chassis assembly structure
CN211196342U (en) * 2019-09-25 2020-08-07 南京航空航天大学 Wheel hub motor distributed electric drive automobile steering device

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113954622A (en) * 2021-09-29 2022-01-21 合肥工业大学 A two-speed rotatable wheel hub motor four-wheel drive car
CN113895510A (en) * 2021-12-10 2022-01-07 北京理工大学深圳汽车研究院(电动车辆国家工程实验室深圳研究院) Steering gear assembly and steering system
CN113895510B (en) * 2021-12-10 2022-03-22 北京理工大学深圳汽车研究院(电动车辆国家工程实验室深圳研究院) Steering gear assembly and steering system

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