CN111605397A - An array type in-wheel motor drive system and multi-wheel in-wheel motor integration and brake steering integrated unmanned vehicle chassis - Google Patents

Abstract

The invention provides an array-type in-wheel motor drive system and a multi-wheel in-wheel motor integrated and brake-steering integrated unmanned vehicle chassis, which can solve the problems of complex mechanical structure and insufficient power of the existing unmanned vehicle chassis system. It includes: a body frame system and two or more wheels, each of which is correspondingly provided with a set of drive systems, a set of steering systems, a set of braking systems and a set of suspension systems; the drive system is driven by an array-type in-wheel motor The corresponding wheel; the wheel is directly driven to rotate by an array type in-wheel motor. Compared with the mid-mounted motor, its transmission mechanism is simple and easy to maintain. Compared with the traditional in-wheel motor, its driving force is stronger. The steering system uses the steering gear to directly drive the corresponding wheels to rotate around the steering king pin to realize steering; the braking system uses the hydraulic station to control the caliper brake to provide braking torque for the corresponding wheels; each wheel is connected to the corresponding wheels through a suspension system. The body-to-frame system is connected.

Description

An array type in-wheel motor drive system and multi-wheel in-wheel motor integration and brake rotation To the integrated unmanned vehicle chassis

technical field

The invention relates to an unmanned vehicle chassis, in particular to a four-wheel unmanned vehicle chassis, and belongs to the technical field of unmanned vehicles.

Background technique

Compared with traditional vehicles, unmanned vehicles can output a variety of control signals, and the existing unmanned vehicle chassis systems often rely on the transformation of manned vehicle chassis systems. The shortcomings are summarized as follows:

(1) There are two main transmission methods. One is to use the mid-mounted motor as the power source, and the power is output to the wheels through the mechanical transmission and reduction mechanism. This method has a long transmission path, low efficiency and high manufacturing cost; the second is Driven by in-wheel motors, this method has shortcomings such as low torque and low speed.

(2) The steering mechanism is mostly mechanical linkage type, which is complicated to install and has high production and processing costs.

(3) The brake system mostly adopts the piston connecting rod type brake pump as the brake main pump, which occupies a large space and is inconvenient to install.

SUMMARY OF THE INVENTION

In view of this, the present invention provides an integrated unmanned vehicle chassis with multi-wheel in-wheel motor integration and braking and steering, which can solve the problems of complex mechanical structure and insufficient power of the existing unmanned vehicle chassis system.

First of all, the present invention provides an array type in-wheel motor drive system, including: a drive housing, a transmission shaft, a large gear, an end cover of the large gear, two or more motors, and pinions corresponding to the motors one-to-one;

The connection relationship is as follows: the drive casing is a hollow cylindrical structure; the transmission shaft is supported in the center hole of the drive casing through a bearing; one end of the transmission shaft extends out of the drive casing and is the same as the large gear. The shaft is fixedly connected; the large gear end cover fixed on the end face of the large gear is coaxially fixed with the transmission shaft, and the driving wheel is fixedly installed on the flange of the transmission shaft;

Two or more motors are installed on the outer circumferential surface of the drive housing at uniform intervals in the circumferential direction to form an array type in-wheel motor; the motor shaft of the motor is connected with the corresponding pinion; two or more of the small The gears are evenly distributed on the outer circumference of the large gear along the circumferential direction, and mesh with the large gear respectively.

The multi-wheel in-wheel motor integration and brake-steering integrated unmanned vehicle chassis of the present invention includes: a body frame system and more than two wheels, each of which is correspondingly provided with a set of drive systems, a set of steering systems, and a set of brakes system and a suspension system;

The drive system uses the above-mentioned array type in-wheel motors to drive the corresponding wheels;

The steering system adopts the steering gear to directly drive the corresponding wheels to rotate around the steering kingpin to realize steering;

The braking system adopts a hydraulic station to control the caliper brake to provide braking torque for the corresponding wheels;

Each of the wheels is connected to the body frame system by a suspension system.

As a preferred mode of the present invention, the steering system includes: a steering bracket, a steering kingpin and a steering steering gear;

The connection relationship is as follows: the steering bracket is fixedly connected with the drive housing of the corresponding wheel drive system, the steering kingpin is supported in the mounting hole of the steering bracket through a bearing, and the axial direction of the steering kingpin is in the vertical direction. The steering kingpin is axially limited by the kingpin circlip arranged in the mounting hole of the steering bracket; the body of the steering steering gear is fixedly connected with the steering bracket, and the output shaft of the steering steering gear is connected to the steering gear. The steering kingpin is coaxially fixed; the steering kingpin is fixedly connected with the body frame system through the suspension system; when the steering system is working, the output shaft of the steering steering gear and the steering kingpin are fixed, and the steering The steering gear body drives the steering bracket to rotate around the steering kingpin.

As a preferred mode of the present invention, the braking system includes: a caliper bracket, a brake caliper, a brake disc, a hydraulic station and an oil pipe;

The connection relationship is as follows: the caliper bracket is fixedly connected to the drive housing of the corresponding wheel drive system; the brake caliper is fixedly connected to the caliper bracket; the brake disc is fixedly connected to the drive shaft of the corresponding wheel drive system; The oil pipe communicates with the input port of the brake caliper and the output port of the hydraulic station; the hydraulic station is fixedly connected to the body frame system.

As a preferred mode of the present invention, the suspension system includes: a shock absorber bracket, a first support arm, a shock absorber, a first hanger, a second hanger, a third hanger, and a second support arm;

The connection relationship is as follows: one end of the shock absorber bracket is fixedly connected with the steering kingpin, and the other end is fixedly connected with the lower end of the shock absorber; the upper end of the shock absorber is connected to the vehicle body through the third hanging lug The second support arm and the lower end of the support arm are respectively fixedly connected to the shock absorber bracket, and the upper end is fixedly connected to the vehicle body frame system through the second hanging ear and the first hanging ear respectively; The connection points of the second mounting ears and the first mounting ears and the body frame system are located below the connection points of the third mounting ears and the body frame system; through the axial tension and compression of the shock absorber To buffer the shock and shock of the vehicle.

As a preferred mode of the present invention, the body frame system includes a frame providing mounting support for the drive system, steering system, braking system and suspension system, and a non-load-bearing body surrounding the frame.

As a preferred mode of the present invention, the frame is constructed of aluminum profiles.

As a preferred mode of the present invention, the array type in-wheel motor adopts five brushless DC motors.

As a preferred mode of the present invention, the hydraulic station adopts a gear pump hydraulic station.

Beneficial effects:

(1) The drive system of the present invention adopts an array type in-wheel motor as a power source, a plurality of DC brushless motors are simultaneously driven to rotate a wheel, and the motor shaft directly drives the wheel shaft to rotate through a gear; the array type in-wheel motor is used to directly drive the wheel to rotate, Compared with the mid-mounted motor, its transmission mechanism is simple and easy to maintain, and its driving force is stronger than that of the traditional in-wheel motor.

(2) Since the array type in-wheel motors are used, and each motor is independently controlled, the power of the drive system can be adjusted by controlling the number of motors in the working state, and the use is flexible.

(3) The driving torque and rotation direction of each wheel are independently controllable, and the unmanned vehicle can be moved forward and backward through the coordinated control of the motor. When the unmanned vehicle turns, the rotational speed of the inner and outer wheels can be adjusted to make the steering more stable, And can achieve differential steering.

(4) The steering system of the present invention adopts the steering gear to directly connect and drive the corresponding wheels to rotate, which saves the complicated mechanical link-type steering mechanism and occupies a smaller space.

(5) The brake system of the present invention adopts a gear pump as the main brake pump, which is small in size and light in weight; the brake caliper is installed on the drive casing through the caliper bracket, which is easy to maintain.

(6) The unmanned vehicle chassis of the present invention is versatile, and mechanical devices and electronic equipment can be added on it to realize the functions of unmanned aerial vehicle launch and unmanned detection.

Description of drawings

Fig. 1 is the structural representation of this unmanned vehicle chassis;

Fig. 2 is the structural representation of this chassis drive system;

Fig. 3 is the structural representation of this chassis steering system;

Fig. 4 is the structural representation of this chassis braking system;

Figure 5 is a schematic structural diagram of the chassis suspension system;

Among them: 101-frame, 102-body, 103-wheel, 201-drive housing, 202-transmission shaft, 203-big gear, 204-big gear end cover, 205-pinion, 206-motor, 207-small Gear circlip, 208-bearing one, 209-bearing two, 301-steering bracket, 302-steering kingpin, 303-steering steering gear, 304-bearing three, 305-bearing four, 306-kingpin circlip, 401- Caliper bracket, 402-brake caliper, 403-brake disc, 404-hydraulic station, 405-oil pipe, 501-shock absorber bracket, 502-support arm one, 503-shock absorber, 504-hanging ear one, 505 - Hanging ear two, 506-hanging ear three, 507-support arm two

Detailed ways

The present invention will be described in detail below with reference to the accompanying drawings and embodiments.

This embodiment provides a four-wheel in-wheel motor integration and brake-steering integrated unmanned vehicle chassis, which can solve the problems of complex mechanical structure and insufficient power of the existing unmanned vehicle chassis system.

As shown in FIG. 1 , the chassis system of the four-wheel unmanned vehicle includes: a frame body system, four wheels 103 , and a drive system, steering system, braking system and suspension system matched with each wheel. The frame 101 is made of aluminum profiles, and the exterior of the frame 101 is surrounded by a body 102 . The hollow part inside the vehicle body can be used to place the power system and control system of the unmanned vehicle, and other mechanical equipment and electronic equipment can be installed on the frame 101 and the vehicle body 102 to modify the unmanned vehicle to realize different functions.

In order to improve the power of the drive system, an array type in-wheel motor is used as the drive system, and a wheel is driven by multiple DC brushless motors to rotate at the same time, and the motor shaft directly drives the wheel shaft to rotate through the gear. Specifically, as shown in FIG. 2 , the drive system of the chassis of the unmanned vehicle includes: a drive housing 201 , a transmission shaft 202 , a large gear 203 , a large gear end cover 204 , two or more motors 206 , which are in one-to-one correspondence with the motors 206 The pinion 205, the pinion circlip 207 corresponding to the pinion 205 one-to-one, the first bearing 208, and the second bearing 209. The connection relationship is as follows: the drive housing 201 is a hollow cylindrical structure, and one end is provided with a shoulder; the transmission shaft 202 is supported in the central hole of the drive housing 201 through the first bearing 208 and the second bearing 209, so that the transmission shaft 202 is supported. Inside the drive housing 201 it is possible to rotate about its own axis. The outer rings of the opposite ends of the first bearing 208 and the second bearing 209 collide with the annular limiting boss arranged on the inner circumferential surface of the drive housing 201 to realize the axial limit on the corresponding sides of the first bearing 208 and the second bearing 209; the bearing one 208 The inner ring on the other side collides with the annular limit boss on the transmission shaft 202 to realize the axial limit of the bearing-208 side. The gears 203 are connected by splines, and the annular boss on the large gear 203 collides with the inner ring on the side of the second bearing 209 to limit the axial position of the second bearing 209 on this side, while keeping the large gear 203 away from the drive housing 201 Contact. The large gear end cover 204 is connected with the transmission shaft 202 through threads (the transmission shaft 202 is a hollow shaft, and a connecting rod with an external thread extends in the middle of the large gear end cover 204, and the connecting rod passes through the central hole of the large gear 203 and is connected to the transmission shaft. 202 is connected with the inner thread of the corresponding end), and the large gear end cover 204 is fixedly connected with the large gear 203 through bolts. The wheel 103 is fixed on the flange of the transmission shaft 202 through a set of bolts.

Two or more motor mounting holes corresponding to the motors 206 one-to-one are provided on the outer circumferential surface of the drive housing 201 at uniform intervals along the circumferential direction; the two or more motors 206 are fixed to the corresponding motors on the drive housing 201 by bolts In the installation hole, an array type in-wheel motor is formed, and the motor 206 is a DC brushless motor; a through hole is provided on the end face of the shoulder end of the drive casing 201 corresponding to each motor 206, and the motor shaft passes through the through hole at the corresponding position. The hole is connected to the corresponding pinion gear 205 after the hole, and each pinion gear 205 is axially limited by a pinion retaining spring 207 . Two or more pinion gears 205 are evenly distributed on the outer circumference of the large gear 203 along the circumferential direction, and mesh with the large gear 203 respectively.

When the drive system is working, two or more motors 206 drive two or more pinion gears 205 to rotate synchronously, and the pinion gears 205 mesh with the large gear 203 to drive the large gear 203 to rotate. The large gear 203, the transmission shaft 202 and the large gear end cover 204 are fixed. Connected together, there is no relative movement between the three, so the power is transmitted by the motor 206 to the transmission shaft 202, thereby driving the corresponding wheels 103 to rotate.

As shown in FIG. 3 , the steering system of the unmanned vehicle chassis includes: a steering bracket 301 , a steering kingpin 302 , a steering steering gear 303 , a third bearing 304 , a fourth bearing 305 and a kingpin circlip 306 . The connection relationship is as follows: the steering bracket 301 is fixedly connected with the drive housing 201 through bolts. The two axial ends of the steering kingpin 302 are respectively supported in the mounting holes of the steering bracket 301 through the third bearing 304 and the fourth bearing 305, and the axial direction of the steering kingpin 302 is in the vertical direction; the annular limit in the mounting hole of the steering bracket 301 The position boss bears against the outer ring of bearing three 304 and the outer ring of bearing four 305, and axially limits the bearing three 304 and bearing four 305; the installation hole above the steering bracket 301 is provided with a king pin circlip 306 to the steering main The pin 302 is axially limited to determine the axial position of the steering kingpin 302 . The body of the steering steering gear 303 is fixedly connected to the steering bracket 301 through bolts, and the output shaft of the steering steering gear 303 is coaxially fixed to the steering kingpin;

When the steering system is working, the output shaft of the steering steering gear 303 and the steering king pin 302 are fixed, and the body of the steering steering gear 303 drives the steering bracket 301 to rotate around the steering king pin 302. Since the steering bracket 301 is fixedly connected with the drive housing 201, the The whole drive system and the wheels 103 are driven to rotate around the steering kingpin 302 to realize steering.

As shown in FIG. 4 , the braking system of the unmanned vehicle chassis includes: a caliper bracket 401 , a brake caliper 402 , a brake disc 403 , a hydraulic station 404 (using a gear pump hydraulic station) and an oil pipe 405 . The connection relationship is as follows: the drive housing 201 is provided with an installation position of the caliper bracket 401 , and the caliper bracket 401 is fixedly connected to the drive housing 201 by bolts. The brake caliper 402 is fastened to the caliper bracket 401 by bolts. The brake disc 403 and the wheel 103 are mounted and fixed on the flange of the transmission shaft 202 by the same set of bolts. The oil pipe 405 communicates with the input port of the brake caliper 402 and the output port of the hydraulic station 404 . The hydraulic station 404 is fastened to the frame 101.

When the brake system is working, the oil pressure output by the hydraulic station 404 is transmitted to the brake caliper 402 through the oil pipe 405, so that the shoes on the brake caliper 402 clamp the brake disc 403 to stop the rotation. The axle 202 and the wheel 103 are fixedly connected, thereby realizing the braking of the unmanned vehicle.

As shown in Figure 5, the suspension system of the unmanned vehicle chassis includes: a shock absorber bracket 501, a support arm 502, a shock absorber 503, a hanging ear 504, a second hanging ear 505, a third hanging ear 506 and a support arm Two 507. The connection relationship is as follows: one end of the shock absorber bracket 501 is fixedly connected with the steering king pin 302 , and the other end is connected to the lower end of the shock absorber 503 through a pin. The upper end of the shock absorber 503 is connected with the third hanging lug 506 through a pin, and the third hanging lug 506 is fixedly connected above the side of the frame 101 . The lower end of the supporting arm 2 507 and the supporting arm 1 502 are fixedly connected with the shock absorber bracket 501 by bolts, and the upper end is respectively connected with the second hanging ear 505 and the first hanging ear 504 by the pin, and the second hanging ear 505 and the first hanging ear 504 are fixed on the vehicle. Below the side of the frame 101. When the vehicle is impacted by vibration, the shock absorber 503 can achieve axial stretching and compression, which can play a buffering effect and improve the stability of the unmanned vehicle.

In conclusion, the above are only preferred embodiments of the present invention, and are not intended to limit the protection scope of 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 (9)

1. An array in-wheel motor drive system which characterized in that: the method comprises the following steps: the device comprises a driving shell (201), a transmission shaft (202), a bull gear (203), a bull gear end cover (204), more than two motors (206) and pinions (205) corresponding to the motors (206) one by one;

the connection relationship is as follows: the driving shell (201) is of a hollow cylindrical structure; the transmission shaft (202) is supported in a central hole of the driving shell (201) through a bearing; one end of the transmission shaft (202) extends out of the driving shell (201) and then is coaxially and fixedly connected with the large gear (203); the bull gear end cover (204) fixed on the end face of the bull gear (203) is coaxially and fixedly connected with the transmission shaft (202), and the driving wheel is fixedly installed on a flange plate of the transmission shaft (202);

more than two motors (206) are uniformly installed on the outer circumferential surface of the driving shell (201) at intervals along the circumferential direction to form an array type hub motor; the motor shaft of the motor (206) is connected with the corresponding pinion (205); more than two small gears (205) are uniformly distributed on the outer circumference of the large gear (203) at intervals along the circumferential direction and are respectively meshed with the large gear (203).

2. The utility model provides an integrated and brake of many rounds of wheel hub motors turn to integration unmanned vehicles chassis which characterized in that includes: the vehicle comprises a vehicle body frame system and more than two wheels, wherein each wheel is correspondingly provided with a set of driving system, a set of steering system, a set of braking system and a set of suspension system;

the driving system adopts the array type hub motor of claim 1 to drive the corresponding wheel;

the steering system adopts a steering engine to directly drive the corresponding wheels to rotate around a steering main pin, so as to realize steering;

the braking system adopts a hydraulic station to control a caliper brake to provide braking torque for a corresponding wheel;

each wheel is connected with the vehicle body frame system through a set of suspension system.

3. The multi-wheel in-wheel motor integrated and brake-steering integrated unmanned vehicle chassis of claim 2, wherein the steering system comprises: the steering mechanism comprises a steering support (301), a steering main pin (302) and a steering engine (303);

the connection relationship is as follows: the steering support (301) is fixedly connected with a driving shell (201) of a corresponding wheel driving system, the steering main pin (302) is supported in a mounting hole of the steering support (301) through a bearing, and the axial direction of the steering main pin (302) is along the vertical direction; the steering main pin (302) is axially limited through a main pin clamp spring (306) arranged in a mounting hole of the steering bracket (301); the body of the steering engine (303) is fixedly connected with the steering support (301), and the output shaft of the steering engine (303) is coaxially and fixedly connected with the steering main pin; the steering main pin (302) is fixedly connected with the vehicle body frame system through a suspension system; when the steering system works, an output shaft of the steering engine (303) is fixed with the steering main pin (302), and the steering engine body (303) drives the steering support (301) to rotate around the steering main pin (302).

4. The multi-wheel in-wheel motor integrated and brake-steering integrated unmanned vehicle chassis of claim 2, wherein the braking system comprises: a caliper bracket (401), a brake caliper (402), a brake disc (403), a hydraulic station (404) and an oil pipe (405);

the connection relationship is as follows: the caliper bracket (401) is fixedly connected with a driving shell (201) of a corresponding wheel driving system; the brake caliper (402) is fixedly connected with the caliper bracket (401); the brake disc (403) is fixedly connected with a transmission shaft (202) of a corresponding wheel driving system; the oil pipe (405) is communicated with an input port of the brake caliper (402) and an output port of the hydraulic station (404); the hydraulic station (404) is fixedly connected to the vehicle body frame system.

5. The multi-wheel in-wheel motor integrated and brake and steering integrated unmanned vehicle chassis of claim 3, wherein the suspension system comprises: the device comprises a shock absorber support (501), a support arm I (502), a shock absorber (503), a suspension loop I (504), a suspension loop II (505), a suspension loop III (506) and a support arm II (507);

the connection relationship is as follows: one end of the shock absorber support (501) is fixedly connected with the steering kingpin (302), and the other end of the shock absorber support is fixedly connected with the lower end of the shock absorber (503); the upper end of the shock absorber (503) is fixedly connected with the vehicle body frame system through a third suspension loop (506); the lower ends of the second support arm (507) and the first support arm (502) are fixedly connected with the shock absorber support (501) respectively, and the upper ends of the second support arm and the first support arm are fixedly connected with the vehicle body frame system through the second suspension loop (505) and the first suspension loop (504) respectively; and the connection points of the second hanging lug (505) and the first hanging lug (504) and the vehicle body frame system are positioned below the connection point of the third hanging lug (506) and the vehicle body frame system; the shock impact on the vehicle is buffered through the axial tension and compression of the shock absorber (503).

6. The integrated multi-wheel hub motor integrated and brake and steering unmanned vehicle chassis as claimed in any one of claims 2-5, wherein the vehicle body frame system comprises a frame (101) for providing mounting support for the driving system, the steering system, the braking system and the suspension system, and a non-bearing vehicle body (102) enclosed outside the frame (101).

7. The multi-wheel hub motor integrated and brake and steering integrated unmanned vehicle chassis as claimed in claim 6, wherein the vehicle frame (101) is built by aluminum profiles.

8. The integrated multi-wheel hub motor and brake and steering unmanned vehicle chassis of claim 2, wherein the array hub motor is five brushless direct current motors.

9. The unmanned vehicle chassis integrating multiple wheels, in-wheel motors and integrating braking and steering as claimed in claim 4, wherein the hydraulic station (404) is a gear pump hydraulic station.

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