CN111605397A - Array type hub motor driving system and multi-wheel hub motor integration and brake steering integrated unmanned vehicle chassis - Google Patents
Array type hub motor driving system and multi-wheel hub motor integration and brake steering integrated unmanned vehicle chassis Download PDFInfo
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- CN111605397A CN111605397A CN202010304775.3A CN202010304775A CN111605397A CN 111605397 A CN111605397 A CN 111605397A CN 202010304775 A CN202010304775 A CN 202010304775A CN 111605397 A CN111605397 A CN 111605397A
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G13/00—Resilient suspensions characterised by arrangement, location or type of vibration dampers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
- B60L15/38—Control or regulation of multiple-unit electrically-propelled vehicles with automatic control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T1/00—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles
- B60T1/02—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels
- B60T1/06—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels acting otherwise than on tread, e.g. employing rim, drum, disc, or transmission or on double wheels
- B60T1/062—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels acting otherwise than on tread, e.g. employing rim, drum, disc, or transmission or on double wheels acting on transmission parts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
- B60T13/12—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release the fluid being liquid
- B60T13/16—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release the fluid being liquid using pumps directly, i.e. without interposition of accumulators or reservoirs
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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
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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
- B60K2007/003—Disposition of motor in, or adjacent to, traction wheel with two or more motors driving a single wheel
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Power Engineering (AREA)
- Vehicle Body Suspensions (AREA)
- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
Abstract
The invention provides an array type hub motor driving system and a multi-wheel hub motor integration and brake and steering integrated unmanned vehicle chassis, which can solve the problems of complex mechanical structure and insufficient power of the existing unmanned vehicle chassis system. The method comprises the following steps: 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; wherein the driving system adopts an array type hub motor to drive the corresponding wheel; the array type hub motor is adopted to directly drive the wheel to rotate, and compared with a central motor, the driving mechanism is simple and easy to maintain, and compared with the traditional hub motor, the driving force is stronger. 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 the corresponding wheel; each wheel is connected to the body frame system through a set of suspension systems.
Description
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
Compare with traditional vehicle, unmanned car can output multiple control signal, and current unmanned car chassis system often relies on the transformation to someone vehicle chassis system, and its weak point summarizes as follows:
(1) the adopted transmission modes mainly comprise two modes, namely, a central motor is used as a power source, and power is output to wheels through a mechanical transmission and speed reduction mechanism, so that the mode has the advantages of long transmission path, low efficiency and high manufacturing cost; and secondly, the hub motor is adopted for driving, and the mode has the defects of small torque, low rotating speed and the like.
(2) The steering mechanism mostly adopts a mechanical connecting rod type, and the mechanism is complex to install and high in production and processing cost.
(3) The braking system mostly adopts a piston connecting rod type brake pump as a main braking pump, occupies large space and is inconvenient to install.
Disclosure of Invention
In view of the above, the invention provides a multi-wheel hub 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.
The invention provides an array type in-wheel motor driving system, which comprises: the driving device comprises a driving shell, a transmission shaft, a large gear end cover, more than two motors and small gears which correspond to the motors one by one;
the connection relationship is as follows: the driving shell is of a hollow cylindrical structure; the transmission shaft is supported in a central hole of the driving shell through a bearing; one end of the transmission shaft extends out of the driving shell and is coaxially and fixedly connected with the large gear; the bull gear end cover fixed on the end face of the bull gear is coaxially and fixedly connected with the transmission shaft, and the driving wheel is fixedly installed on a flange plate of the transmission shaft;
more than two motors are uniformly installed on the outer circumferential surface of the driving shell at intervals along the circumferential direction to form an array type hub motor; a motor shaft of the motor is connected with a pinion corresponding to the motor shaft; more than two small gears are uniformly distributed on the outer circumference of the large gear at intervals along the circumferential direction and are respectively meshed with the large gear.
The invention discloses a multi-wheel hub motor integration and brake steering integrated unmanned vehicle chassis, which comprises: 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 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.
As a preferable mode of the present invention, the steering system includes: the steering support, the steering main pin and the steering engine;
the connection relationship is as follows: the steering support is fixedly connected with a driving shell of the corresponding wheel driving system, the steering main pin is supported in a mounting hole of the steering support through a bearing, and the axial direction of the steering main pin is along the vertical direction; the steering main pin is axially limited through a main pin clamp spring arranged in the steering support mounting hole; the body of the steering engine is fixedly connected with the steering support, and an output shaft of the steering engine is coaxially and fixedly connected with the steering main pin; the steering main pin is fixedly connected with the vehicle body frame system through a suspension system; when the steering system works, the output shaft of the steering engine and the steering main pin are fixed, and the steering engine body drives the steering support to rotate around the steering main pin.
As a preferred mode of the present invention, the brake system includes: the brake caliper comprises 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 with a driving shell of the corresponding wheel driving system; the brake caliper is fixedly connected with the caliper bracket; the brake disc is fixedly connected with a transmission shaft of the corresponding wheel driving system; the oil pipe is communicated with an input port of the brake caliper and an output port of the hydraulic station; the hydraulic station is fixedly connected to the vehicle body frame system.
As a preferred mode of the present invention, the suspension system includes: the shock absorber support, the support arm I, the shock absorber, the first suspension loop, the second suspension loop, the third suspension loop and the support arm II;
the connection relationship is as follows: one end of the shock absorber support is fixedly connected with the steering main pin, and the other end of the shock absorber support is fixedly connected with the lower end of the shock absorber; the upper end of the shock absorber is fixedly connected with the vehicle body frame system through a third suspension loop; the second support arm and the lower end of the first support arm are fixedly connected with the shock absorber support respectively, and the upper end of the second support arm is fixedly connected with the vehicle body frame system through the second hanging lug and the first hanging lug respectively; the connection points of the second hanging lug and the first hanging lug and the vehicle body frame system are positioned below the connection point of the third hanging lug and the vehicle body frame system; the shock impact on the vehicle is buffered through the axial tension and compression of the shock absorber.
In a preferred form of the invention, the vehicle body frame system includes a frame providing mounting support for the drive system, steering system, brake system and suspension system and a non-load bearing vehicle body surrounding the frame.
As a preferred mode of the invention, the frame is built by adopting an aluminum profile.
In a preferred embodiment of the present invention, the array hub motor employs five brushless dc motors.
In a preferred embodiment of the present invention, the hydraulic station is a gear pump hydraulic station.
Has the advantages that:
(1) the driving system of the invention adopts an array type hub motor as a power source, a plurality of direct current brushless motors simultaneously drive a wheel to rotate, and a motor shaft directly drives a wheel shaft to rotate through a gear; the array type hub motor is adopted to directly drive the wheel to rotate, and compared with a central motor, the driving mechanism is simple and easy to maintain, and compared with the traditional hub motor, the driving force is stronger.
(2) Due to the adoption of the array type hub motors and the independent control of each motor, the power of the driving system can be adjusted by controlling the number of the motors in the working state, and the use is flexible.
(3) The driving moment and the rotating direction of each wheel are independently controllable, the unmanned vehicle can move forwards and backwards through the coordination control of the motor, the rotating speeds of the inner and outer wheels can be adjusted to enable the steering to be more stable when the unmanned vehicle steers, and the differential steering can be realized.
(4) The steering system adopts the steering engine to directly connect and drive the corresponding wheels to rotate, thereby omitting a complicated mechanical connecting rod type steering mechanism and occupying less space.
(5) The brake system adopts the gear pump as a main brake pump, and has small volume and light weight; brake caliper passes through the calliper support mounting on drive housing, easily maintenance.
(6) The unmanned vehicle chassis has universality, and can be additionally provided with a mechanical device and electronic equipment to realize functions of unmanned vehicle launching, unmanned detection and the like.
Drawings
FIG. 1 is a schematic structural view of the unmanned vehicle chassis;
FIG. 2 is a schematic structural diagram of the chassis drive system;
FIG. 3 is a schematic structural view of the chassis steering system;
FIG. 4 is a schematic structural diagram of the chassis brake system;
FIG. 5 is a schematic structural view of the chassis suspension system;
wherein: 101-vehicle frame, 102-vehicle body, 103-wheel, 201-driving shell, 202-transmission shaft, 203-large gear, 204-large gear end cover, 205-small gear, 206-motor, 207-small gear clamp spring, 208-bearing I, 209-bearing II, 301-steering support, 302-steering main pin, 303-steering engine, 304-bearing III, 305-bearing IV, 306-main pin clamp spring, 401-caliper support, 402-brake caliper, 403-brake disc, 404-hydraulic station, 405-oil pipe, 501-shock absorber support, 502-supporting arm I, 503-shock absorber, 504-hanging ear I, 505-hanging ear II, 506-hanging ear III and 507-supporting arm II
Detailed Description
The invention is described in detail below by way of example with reference to the accompanying drawings.
The embodiment provides a four-wheel hub motor integration and brake steering integration unmanned aerial vehicle chassis, can solve the problem that current unmanned aerial vehicle chassis system mechanical structure is complicated and power is not enough.
As shown in fig. 1, the four-wheel unmanned vehicle chassis system includes: a frame body system, four wheels 103, and a driving system, a steering system, a braking system and a suspension system matched with each wheel. The frame 101 is made of aluminum section, and the body 102 is surrounded by the frame. The hollow part in the vehicle body can be used for placing a power supply system and a control system of the unmanned vehicle, and other mechanical equipment and electronic equipment can be additionally arranged on the vehicle frame 101 and the vehicle body 102 to modify the unmanned vehicle so as to realize different functions.
In order to improve the power of a driving system, an array type hub motor is adopted as the driving system, a plurality of direct current brushless motors simultaneously drive a wheel to rotate, and a motor shaft directly drives a wheel shaft to rotate through a gear. Specifically, as shown in fig. 2, the driving system of the unmanned vehicle chassis includes: the driving mechanism comprises a driving shell 201, a transmission shaft 202, a bull gear 203, a bull gear end cover 204, more than two motors 206, pinions 205 corresponding to the motors 206 one by one, pinion snap springs 207 corresponding to the pinions 205 one by one, a first bearing 208 and a second bearing 209. The connection relationship is as follows: the driving shell 201 is a hollow cylindrical structure, and one end of the driving shell is provided with a shaft shoulder; the drive shaft 202 is supported within the central bore of the drive housing 201 by a bearing one 208 and a bearing two 209, thereby enabling the drive shaft 202 to rotate about its own axis within the drive housing 201. The outer rings of the opposite ends of the first bearing 208 and the second bearing 209 are abutted against annular limiting bosses arranged on the inner circumferential surface of the driving shell 201, so that the axial limiting of the corresponding sides of the first bearing 208 and the second bearing 209 is realized; the inner ring on the other side of the bearing I208 is abutted against the annular limiting boss on the transmission shaft 202 to realize axial limiting on the side of the bearing I208, one end of the transmission shaft 202 extends out of the end where the shaft shoulder of the driving shell 201 is located and is connected with the large gear 203 through a spline, the annular boss on the large gear 203 is abutted against the inner ring on the side of the bearing II 209 to perform axial limiting on the side of the bearing II 209, and meanwhile, the large gear 203 is not contacted with the driving shell 201. The bull gear end cap 204 is connected to the transmission shaft 202 through a screw (the transmission shaft 202 is a hollow shaft, a connecting rod with an external screw thread extends from the middle of the bull gear end cap 204, the connecting rod passes through the central hole of the bull gear 203 and then is connected to the internal screw thread at the corresponding end of the transmission shaft 202), and the bull gear end cap 204 is fixedly connected to the bull gear 203 through a bolt. The wheel 103 is fixed on the flange of the transmission shaft 202 through a group of bolts.
More than two motor mounting holes corresponding to the motors 206 one by one are uniformly arranged on the outer circumferential surface of the driving shell 201 at intervals along the circumferential direction; more than two motors 206 are fixed in corresponding motor mounting holes on the driving shell 201 through bolts, so that an array type hub motor is formed, and the motors 206 are direct current brushless motors; the end face of the shaft shoulder end of the driving shell 201 corresponding to each motor 206 is provided with a through hole, the motor shaft passes through the through hole at the corresponding position and then is connected with a pinion 205 corresponding to the motor shaft, and each pinion 205 is axially limited by a pinion clamp spring 207. More than two small gears 205 are evenly distributed on the outer circumference of the big gear 203 along the circumferential direction at intervals and are respectively meshed with the big gear 203.
When the driving system works, more than two motors 206 drive more than two pinions 205 to synchronously rotate, the pinions 205 are meshed with the bull gears 203 to drive the bull gears 203 to rotate, the bull gears 203, the transmission shaft 202 and the bull gear end covers 204 are fixedly connected together, relative motion does not exist among the bull gears 203, the transmission shaft 202 and the bull gear end covers 204, and therefore power is transmitted to the transmission shaft 202 through the motors 206 to drive the corresponding wheels 103 to rotate.
As shown in fig. 3, the steering system of the unmanned vehicle chassis includes: steering support 301, steering kingpin 302, steering gear 303, bearing III 304, bearing IV 305 and kingpin clamp spring 306. The connection relationship is as follows: the steering bracket 301 is fixedly connected to the driving housing 201 by a bolt. Two axial ends of the kingpin 302 are supported in mounting holes of the steering bracket 301 through a third bearing 304 and a fourth bearing 305 respectively, and the kingpin 302 is axially vertical; an annular limiting boss in the mounting hole of the steering bracket 301 props against the outer ring of the bearing III 304 and the outer ring of the bearing IV 305 to axially limit the bearing III 304 and the bearing IV 305; a kingpin clamp spring 306 is arranged in a mounting hole above the steering bracket 301 to axially limit the steering kingpin 302 so as to determine the axial position of the steering kingpin 302. A machine body of the steering engine 303 is fixedly connected with the steering bracket 301 through a bolt, and an output shaft of the steering engine 303 is coaxially and fixedly connected with the steering main pin; the kingpin 302 is fixedly connected to the frame 101 via a shock-absorbing bracket 501.
When the steering system works, an output shaft of the steering engine 303 is fixed with the steering main pin 302, the body of the steering engine 303 drives the steering support 301 to rotate around the steering main pin 302, and the steering support 301 is fixedly connected with the driving shell 201, so that the driving system is driven to rotate integrally and the wheels 103 rotate around the steering main pin 302, and steering is achieved.
As shown in fig. 4, the brake system of the unmanned vehicle chassis includes: caliper bracket 401, brake caliper 402, brake disc 403, hydraulic station 404 (using a gear pump hydraulic station), and oil line 405. The connection relationship is as follows: the driving shell 201 is provided with a mounting position of a caliper bracket 401, and the caliper bracket 401 is fixedly connected with the driving shell 201 through bolts. Brake caliper 402 is secured to caliper bracket 401 by bolts. The brake disc 403 and the wheel 103 are fixed on the flange of the transmission shaft 202 through the same group of bolts. Oil line 405 communicates between an input port of brake caliper 402 and an output port of hydraulic station 404. Hydraulic station 404 is attached to frame 101.
When the braking system works, the oil pressure output by the hydraulic station 404 is transmitted to the brake caliper 402 through the oil pipe 405, so that the brake disc 403 is clamped by the shoes on the brake caliper 402 to stop rotating, and the brake disc 403 is fixedly connected with the transmission shaft 202 and the wheels 103, so that the unmanned vehicle is braked.
As shown in fig. 5, the suspension system of the unmanned vehicle chassis includes: the suspension device comprises a shock absorber bracket 501, a first support arm 502, a shock absorber 503, a first hanging lug 504, a second hanging lug 505, a third hanging lug 506 and a second support arm 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 is connected with the lower end of the shock absorber 503 through a pin. The upper end of the shock absorber 503 is connected with a third hanging lug 506 through a pin, and the third hanging lug 506 is fixedly connected above the side face of the frame 101. The lower ends of the second support arm 507 and the first support arm 502 are fixedly connected with the shock absorber support 501 through bolts, the upper ends of the second support arm and the first support arm are respectively connected with the second hanging lug 505 and the first hanging lug 504 through pins, and the second hanging lug 505 and the first hanging lug 504 are fixedly connected below the side face of the frame 101. When the vehicle is shocked by vibration, the damper 503 can achieve axial stretching and compression, thereby playing a role in buffering and improving the stability of the unmanned vehicle.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in 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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010304775.3A CN111605397A (en) | 2020-04-17 | 2020-04-17 | Array type hub motor driving system and multi-wheel hub motor integration and brake steering integrated unmanned vehicle chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010304775.3A CN111605397A (en) | 2020-04-17 | 2020-04-17 | Array type hub motor driving system and multi-wheel hub motor integration and brake steering integrated unmanned vehicle chassis |
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| CN111605397A true CN111605397A (en) | 2020-09-01 |
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| CN202010304775.3A Pending CN111605397A (en) | 2020-04-17 | 2020-04-17 | Array type hub motor driving system and multi-wheel hub motor integration and brake steering integrated unmanned vehicle chassis |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108216355A (en) * | 2017-12-28 | 2018-06-29 | 江苏集萃智能制造技术研究所有限公司 | A kind of steering integrated mechanism of suspension for all-terrain vehicle |
| CN112224281A (en) * | 2020-10-15 | 2021-01-15 | 重庆涵拓科技有限公司 | Suspension, suspension system and chassis with same |
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|---|---|---|---|---|
| CN201484168U (en) * | 2009-08-21 | 2010-05-26 | 山东大学 | Integrative wheel assembly with independent driving, steering, hanging and braking |
| CN101716954A (en) * | 2009-11-24 | 2010-06-02 | 深圳职业技术学院 | Electric automobile with independently steered and driven wheels and steering and drive control method thereof |
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| CN110949497A (en) * | 2019-11-22 | 2020-04-03 | 江苏大学 | Unmanned platform car that all-wheel 360 degrees turned to |
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| CN201484168U (en) * | 2009-08-21 | 2010-05-26 | 山东大学 | Integrative wheel assembly with independent driving, steering, hanging and braking |
| CN101716954A (en) * | 2009-11-24 | 2010-06-02 | 深圳职业技术学院 | Electric automobile with independently steered and driven wheels and steering and drive control method thereof |
| FR2956073A1 (en) * | 2010-02-11 | 2011-08-12 | Porsche Ag | DRIVE WHEEL AND MOTOR VEHICLE PROVIDED WITH SUCH A WHEEL |
| CN102673380A (en) * | 2012-01-18 | 2012-09-19 | 华南理工大学 | Built-in and suspension integrated hub motor drive electric wheel |
| CN203094172U (en) * | 2012-12-24 | 2013-07-31 | 中国科学院深圳先进技术研究院 | Steer-by-wire device capable of independent steering and driving electric automobile and suspension system thereof |
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| CN107600172A (en) * | 2017-09-28 | 2018-01-19 | 杭州国辰机器人科技有限公司 | A kind of four motorized wheels mobile robot with shockproof function |
| CN108995711A (en) * | 2018-07-09 | 2018-12-14 | 北京理工大学 | A kind of all-wheel steering motorized vehicle chassis independently driven |
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| CN108216355A (en) * | 2017-12-28 | 2018-06-29 | 江苏集萃智能制造技术研究所有限公司 | A kind of steering integrated mechanism of suspension for all-terrain vehicle |
| CN112224281A (en) * | 2020-10-15 | 2021-01-15 | 重庆涵拓科技有限公司 | Suspension, suspension system and chassis with same |
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Application publication date: 20200901 |