CN110861461B - Active suspension structure of distributed driving vehicle - Google Patents
Active suspension structure of distributed driving vehicle Download PDFInfo
- Publication number
- CN110861461B CN110861461B CN201911100382.4A CN201911100382A CN110861461B CN 110861461 B CN110861461 B CN 110861461B CN 201911100382 A CN201911100382 A CN 201911100382A CN 110861461 B CN110861461 B CN 110861461B
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- rod
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- servo motor
- locking device
- screw rod
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- 239000000725 suspension Substances 0.000 title claims abstract description 21
- 238000013016 damping Methods 0.000 claims description 6
- 230000000694 effects Effects 0.000 abstract description 6
- 238000000034 method Methods 0.000 abstract description 6
- 230000008569 process Effects 0.000 abstract description 4
- 230000009471 action Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000295 fuel oil Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/0152—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the action on a particular type of suspension unit
- B60G17/0157—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the action on a particular type of suspension unit non-fluid unit, e.g. electric motor
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- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention relates to the technical field of distributed driving of vehicles, and discloses an active suspension structure of a distributed driving vehicle. Through I-shaped frame, connect the sill bar, connect interconnect effect between ejector pin and the linkage for wheel hub motor driven tire can lift up the obstacle of meeting in the place ahead in the car advancing process and avoid, can effectively reduce tire and obstacle and collide, and then reduce the vibrations that cause wheel hub motor, improve the guard strength to wheel hub motor, effectively increase wheel hub motor's life, the damage that causes because of the collision of tire has also been reduced simultaneously, the wear rate of tire has been reduced, and through intelligent control, make the wheel of one side lift up and put down the back, the opposite side wheel lifts up again, realize seamless connection, the effectual safety in utilization who improves wheel hub motor.
Description
Technical Field
The invention relates to the technical field of distributed driving of vehicles, in particular to an active suspension structure of a distributed driving vehicle.
Background
With development and use of electric vehicles, compared with a fuel-oil vehicle, in which an engine driving mode is adopted, an electric vehicle uses distributed driving as a final solution of power, and the electric vehicle is directly driven by an in-wheel motor, in the driving technology, in order to obtain high power and high torque in the same space size, an in-wheel motor with an outer rotor structure is generally adopted, but the adoption of the outer rotor motor has the following defects:
The structural strength of the outer rotor motor is low, the impact resistance is relatively poor, the outer rotor motor is easy to damage in use, meanwhile, the damping device of the outer rotor motor is simple at present, only the damping can be passively carried out, and the protection force is weak.
Disclosure of Invention
The invention provides an active suspension structure of a distributed driving vehicle, which has the advantages of high intelligent degree and strong protection force for an external rotor motor, and solves the problem of insufficient protection force for a hub motor in the distributed driving in the prior art.
The invention provides the following technical scheme: the utility model provides an active suspension structure of distributed drive vehicle, includes I-shaped frame, connects the sill bar, connects ejector pin, in-wheel motor, human type connecting rod, linkage and strutting arrangement, in-wheel motor installs on a fixed axle, install the tire on the fixed axle, I-shaped frame left side bottom and the one end swing joint's of connecting the sill bar node c, I-shaped frame left side top and the one end swing joint's of connecting the ejector pin node b, the fixed axle bottom on the in-wheel motor is a with the other end swing joint's of connecting the sill bar node, the fixed axle top on the in-wheel motor is d with the other end swing joint's of connecting the ejector pin node, linkage's top is e through the top swing joint of human type connecting rod and I-shaped frame, linkage's bottom and the other end swing joint's of connecting the sill bar node is f.
Preferably, the suspension device comprises a shell, a hollow servo motor, a driving sleeve, a screw rod, a connecting sleeve rod and a locking device, wherein the hollow servo motor is arranged at the top of an inner cavity of the hollow servo motor, the driving sleeve is fixedly connected with a hollow shaft inside the hollow servo motor, the screw rod is movably sleeved with the hollow servo motor and the driving sleeve respectively, the screw rod is movably sleeved with the connecting sleeve rod, the locking device is fixedly arranged at the bottom of the shell, and the locking device is sleeved with the screw rod.
Preferably, the hollow servo motor is internally provided with a motor driving control module, a brake and a position sensor, the motor driving control module is electrically connected with the hollow servo motor, and the motor driving control module is electrically connected with a CAN and a driving computer.
Preferably, the hollow servo motor comprises a locking device, an electromagnetic coil and a supporting spring, wherein the locking device is two semi-cylinders, the locking device is movably arranged in the shell, the electromagnetic coil is fixedly arranged on the shell and sleeved on a screw rod, threads meshed with the screw rod are formed on the surface, in contact with the screw rod, of the locking device, and the supporting spring is fixedly connected with the locking device and the shell respectively.
Preferably, one end of the suspension device is movably connected with one end of the human-shaped connecting rod, the other end of the human-shaped connecting rod is movably connected with the supporting device, and the damping spring is fixedly arranged on the supporting device.
The invention has the following beneficial effects:
1. Through I-shaped frame, connect the sill bar, connect interconnect effect between ejector pin and the linkage for wheel hub motor driven tire can lift up the obstacle of meeting in the place ahead in the car advancing process and avoid, can effectively reduce tire and obstacle and collide, and then reduce the vibrations that cause wheel hub motor, improve the guard strength to wheel hub motor, effectively increase wheel hub motor's life, the damage that causes because of the collision of tire has also been reduced simultaneously, the wear rate of tire has been reduced, and through intelligent control, make the wheel of one side lift up and put down the back, the opposite side wheel lifts up again, realize seamless connection, the effectual safety in utilization who improves wheel hub motor.
2. When the automobile runs on a normal road, the I-shaped frame, the connecting bottom rod, the connecting top rod and the hanging device can be automatically adjusted to the position where the hub motor is located under the control of the intelligent control system, so that the height of the automobile is adjusted, the riding comfort is improved, meanwhile, the vibration suffered by the hub motor can be effectively reduced when the automobile runs normally through the arrangement of the human-shaped connecting rod, the hanging device and the supporting device, and the safety of the hub motor is further improved.
Drawings
FIG. 1 is a schematic elevational view of the structure of the present invention;
FIG. 2 is a schematic diagram of information transfer according to the present invention;
FIG. 3 is an enlarged schematic view of the structure of the present invention at A in FIG. 1;
FIG. 4 is a schematic view of a structural suspension device of the present invention;
FIG. 5 is a schematic diagram of the structure of the present invention at B in FIG. 4;
FIG. 6 is a schematic view showing the normal running effect of the structure of the present invention on an automobile;
fig. 7 is a schematic view showing the effect of the structure of the present invention on improving the wheel.
In the figure: 1. an I-shaped frame; 2. connecting a bottom rod; 3. connecting the ejector rod; 4. a hub motor; 5. a human-shaped connecting rod; 6. a suspension device; 61. a housing; 62. a hollow servo motor; 63. a drive sleeve; 64. a screw rod; 65. connecting a loop bar; 66. a locking device; 661. a latch; 662. an electromagnetic coil; 663. a support spring; 7. and a supporting device.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-7, an active suspension structure of a distributed driving vehicle includes an i-frame 1, a connecting bottom rod 2, a connecting top rod 3, a hub motor 4, a human-shaped connecting rod 5, a suspension device 6 and a supporting device 7, wherein the hub motor 4 is mounted on a fixed shaft, a tire is mounted on the fixed shaft, the bottom of the left side of the i-frame 1 is movably connected with one end of the connecting bottom rod 2, the top of the left side of the i-frame 1 is movably connected with one end of the connecting top rod 3, a node of the bottom end of the fixed shaft on the hub motor 4 is movably connected with the other end of the connecting bottom rod 2 is a, a node of the top end of the fixed shaft on the hub motor 4 is movably connected with the other end of the connecting top rod 3 is d, a node of the top end of the suspension device 6 is movably connected with the top end of the i-frame 1 through the human-shaped connecting rod 5, and a node of the bottom end of the suspension device 6 is f.
The suspension device 6 comprises a shell 61, a hollow servo motor 62, a driving sleeve 63, a lead screw 64, a connecting sleeve rod 65 and a locking device 66, wherein the hollow servo motor 62 is arranged at the top of an inner cavity of the hollow servo motor 62, the driving sleeve rod 63 is fixedly connected with a hollow shaft inside the hollow servo motor 62, the lead screw 64 is movably sleeved with the hollow servo motor 62 and the driving sleeve rod 63 respectively, the lead screw 64 is movably sleeved with the connecting sleeve rod 65, the locking device 66 is fixedly arranged at the bottom of the shell 61, the locking device 66 is sleeved with the lead screw 64, the hollow servo motor 62 is started to drive the driving sleeve rod 63 to rotate, the lead screw 64 is contracted, the suspension device 6 is integrally shortened, the connecting bottom rod 2 is pulled to be lifted, the hub motor 4 and a wheel are driven to avoid the obstacle, the collision of the wheel and the obstacle is effectively avoided, the collision of the hub motor 4 is reduced, and the safety of the hub motor 4 is improved.
Wherein, the internally mounted of hollow servo motor 62 has motor drive control module, stopper and position sensor, motor drive control module and hollow servo motor 62 electric connection, electric connection has CAN and driving computer on the motor drive control module, carries out intelligent control to hollow servo motor 62 through driving computer for hollow servo motor 62 realizes accurate orderly work, and carries out accurate control to the flexible length of lead screw 64, improves the accuracy that the wheel kept away the barrier and reduces the output of energy.
The hollow servo motor 62 includes a locking device 661, an electromagnetic coil 662 and a supporting spring 663, the locking device 661 is two semi-cylinders, the locking device 661 is movably mounted in the shell 61, the electromagnetic coil 662 is fixedly mounted on the shell 61 and is sleeved on the screw 64, a thread meshed with the screw 64 is formed on a surface of the locking device 661 contacted with the screw 64, the supporting spring 663 is fixedly connected with the locking device 661 and the shell 61 respectively, when the hollow servo motor 62 works, the electromagnetic coil 662 is connected, the locking device 661 is separated from the screw 64 by a distance, sliding friction does not exist between the locking device 661 and the screw 64, when the hollow servo motor 62 stops working, the electromagnetic coil 662 cuts off a power supply, the locking device 661 is tightly meshed with the screw 64 under the action of the electromagnetic coil 662, the screw 64 can be locked, meanwhile, supporting force between the screw 64 and the shell 61 can be effectively increased, abrasion of the screw 64 and internal damage of the driving sleeve 63 due to too large acting force between the driving sleeve 63 and the screw 64 when the suspension device 6 acts as a push rod is reduced, and safety of the mechanism is improved.
Wherein, the one end swing joint of linkage 6 and the one end swing joint of people's type connecting rod 5, the other end and the strutting arrangement 7 swing joint of people's type connecting rod 5, fixedly mounted has damping spring on the strutting arrangement 7, through the transmission effect of people's type connecting rod 5 for when linkage 6 was decided the pole effect, strutting arrangement 7 can effectively increase linkage 6 holding power, reduce the impact that linkage 6 received through damping spring simultaneously, increased wheel motor 4's shock resistance, improved the stability of wheel, further increased the stability and the travelling crane travelling comfort.
When the automobile encounters an obstacle in front, a driving computer sends a command to a motor drive control module and a locking device 66 through a CAN, the locking device 66 unlocks a screw rod 64, a hollow servo motor 62 is started and drives a drive sleeve 63 to rotate, the screw rod 64 contracts, one end of a connecting bottom rod 2 is pulled to move upwards, the hub motor 4 moves upwards, a position sensor feeds information back to the driving computer after the screw rod 64 contracts to a certain length, the driving computer sends the command to the motor drive control module and a brake after receiving the feedback, the hollow servo motor 62 stops rotating, the hollow servo motor 62 reverses, the screw rod 64 extends, a tire driven by the hub motor 4 falls to the ground, the hollow servo motor 62 stops rotating after the hollow servo motor 62 falls to the ground, and the locking device 66 locks the screw rod 64, so that the system command is similar to the above and is not repeated.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the spirit and scope of the invention as defined by the appended claims and their equivalents.
Claims (1)
1. The utility model provides an active suspension structure of distributed drive vehicle, includes I-shaped frame (1), connects sill bar (2), connects ejector pin (3), in-wheel motor (4), human type connecting rod (5), linkage (6) and strutting arrangement (7), in-wheel motor (4) install on a fixed axle, install tire, its characterized in that on the fixed axle: the bottom of the left side of the I-shaped frame (1) is movably connected with one end of a connecting bottom rod (2), the top of the left side of the I-shaped frame (1) is movably connected with one end of a connecting top rod (3), a node of the bottom end of a fixed shaft on the hub motor (4) and the other end of the connecting bottom rod (2) is a, a node of the top end of the fixed shaft on the hub motor (4) and the other end of the connecting top rod (3) is d, a node of the top end of the hanging device (6) and the top end of the I-shaped frame (1) are e through a human-shaped connecting rod (5), and a node of the bottom end of the hanging device (6) and the other end of the connecting bottom rod (2) are f;
The suspension device (6) comprises a shell (61), a hollow servo motor (62), a driving sleeve (63), a screw rod (64), a connecting sleeve rod (65) and a locking device (66), wherein the hollow servo motor (62) is arranged at the top of an inner cavity of the hollow servo motor (62), the driving sleeve (63) is fixedly connected with an inner hollow shaft of the hollow servo motor (62), the screw rod (64) is movably sleeved with the hollow servo motor (62) and the driving sleeve (63) respectively, the screw rod (64) is movably sleeved with the connecting sleeve rod (65), the locking device (66) is fixedly arranged at the bottom of the shell (61), and the locking device (66) is sleeved with the screw rod (64);
A motor driving control module, a brake and a position sensor are arranged in the hollow servo motor (62), the motor driving control module is electrically connected with the hollow servo motor (62), and the motor driving control module is electrically connected with a CAN and a driving computer;
The hollow servo motor (62) comprises a locking device (661), an electromagnetic coil (662) and a supporting spring (663), wherein the locking device (661) is two semi-cylinders, the locking device (661) is movably arranged in the shell (61), the electromagnetic coil (662) is fixedly arranged on the shell (61) and sleeved on the screw rod (64), threads meshed with the screw rod (64) are formed on the surface, contacted with the screw rod (64), of the locking device (661), and the supporting spring (663) is fixedly connected with the locking device (661) and the shell (61) respectively;
One end of the suspension device (6) is movably connected with one end of the human-shaped connecting rod (5), the other end of the human-shaped connecting rod (5) is movably connected with the supporting device (7), and the supporting device (7) is fixedly provided with a damping spring;
When the active suspension structure works, when an automobile encounters an obstacle, a driving computer sends an instruction to be transmitted to a motor drive control module and a locking device through a CAN, the locking device unlocks a screw rod, a hollow servo motor is started and drives a drive sleeve to rotate, the screw rod contracts, one end of a connecting bottom rod is pulled to move upwards, the hub motor moves upwards, after the screw rod contracts to a certain length, a position sensor feeds information back to the driving computer, the driving computer receives the feedback and then gives an instruction to the motor drive control module and a brake, the hollow servo motor rotates to stop, then the hollow servo motor rotates reversely, the screw rod stretches out, a tire driven by the hub motor falls to the ground, and the hollow servo motor stops rotating after the tire falls to the ground, and the locking device locks the screw rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911100382.4A CN110861461B (en) | 2019-11-12 | 2019-11-12 | Active suspension structure of distributed driving vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911100382.4A CN110861461B (en) | 2019-11-12 | 2019-11-12 | Active suspension structure of distributed driving vehicle |
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| Publication Number | Publication Date |
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| CN110861461A CN110861461A (en) | 2020-03-06 |
| CN110861461B true CN110861461B (en) | 2024-06-04 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201911100382.4A Active CN110861461B (en) | 2019-11-12 | 2019-11-12 | Active suspension structure of distributed driving vehicle |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2613109B (en) * | 2020-11-27 | 2024-01-03 | Jaguar Land Rover Ltd | Transient unloading of impeded vehicle wheels |
| GB2601346B (en) * | 2020-11-27 | 2023-04-19 | Jaguar Land Rover Ltd | Transient unloading of impeded vehicle wheels |
| GB2613108B (en) * | 2020-11-27 | 2024-01-03 | Jaguar Land Rover Ltd | Transient unloading of impeded vehicle wheels |
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| CN202200826U (en) * | 2011-11-10 | 2012-04-25 | 浙江达世元电动科技有限公司 | All-electric wheel assembly |
| CN204978142U (en) * | 2015-09-22 | 2016-01-20 | 河南速达电动汽车科技有限公司 | Vibration energy who takes four wheel steering function retrieves suspension |
| CN106739909A (en) * | 2017-01-06 | 2017-05-31 | 深圳大学 | Electric vehicle hub turns to suspension system |
| CN108128370A (en) * | 2017-12-29 | 2018-06-08 | 江苏集萃智能制造技术研究所有限公司 | The unmanned chassis of full landform and method of work based on the driving of 8 × 8 type distributions |
| CN110108506A (en) * | 2019-05-17 | 2019-08-09 | 青岛科技大学 | A kind of tooth-like tire of curve automatically speeds up release unit |
| CN211543185U (en) * | 2019-11-12 | 2020-09-22 | 艾德斯汽车电机无锡有限公司 | Active suspension structure of distributed driving vehicle |
-
2019
- 2019-11-12 CN CN201911100382.4A patent/CN110861461B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202200826U (en) * | 2011-11-10 | 2012-04-25 | 浙江达世元电动科技有限公司 | All-electric wheel assembly |
| CN204978142U (en) * | 2015-09-22 | 2016-01-20 | 河南速达电动汽车科技有限公司 | Vibration energy who takes four wheel steering function retrieves suspension |
| CN106739909A (en) * | 2017-01-06 | 2017-05-31 | 深圳大学 | Electric vehicle hub turns to suspension system |
| CN108128370A (en) * | 2017-12-29 | 2018-06-08 | 江苏集萃智能制造技术研究所有限公司 | The unmanned chassis of full landform and method of work based on the driving of 8 × 8 type distributions |
| CN110108506A (en) * | 2019-05-17 | 2019-08-09 | 青岛科技大学 | A kind of tooth-like tire of curve automatically speeds up release unit |
| CN211543185U (en) * | 2019-11-12 | 2020-09-22 | 艾德斯汽车电机无锡有限公司 | Active suspension structure of distributed driving vehicle |
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| CN110861461A (en) | 2020-03-06 |
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