CN112193316B - A four-wheel independent steering mechanism based on motor drive - Google Patents
A four-wheel independent steering mechanism based on motor drive Download PDFInfo
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- CN112193316B CN112193316B CN202011126706.4A CN202011126706A CN112193316B CN 112193316 B CN112193316 B CN 112193316B CN 202011126706 A CN202011126706 A CN 202011126706A CN 112193316 B CN112193316 B CN 112193316B
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- 230000007246 mechanism Effects 0.000 title claims abstract description 16
- 230000005540 biological transmission Effects 0.000 claims abstract description 61
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- 239000000295 fuel oil Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
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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
- B60K1/00—Arrangement or mounting of electrical propulsion units
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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
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Abstract
本发明涉及汽车转向机构技术领域，且公开了一种基于电机驱动的汽车四轮独立转向机构，包括车身和车轮，所述车轮的中部固定安装有固定轴，所述车身底部活动安装有驱动电机，所述驱动电机的活动轴固定连接有传输轴，所述传输轴的右端通过花键固定连接有固定型球笼式万向节，所述固定型球笼式万向节与车轮上固定轴的左端通过花键固定连接。通过驱动电机和球笼的设置，将车轮的动力传输与转向进行相对独立，在车轮进行0‑45度范围内的转向时，驱动电机与车身保持相对静止，减少汽车零部件的晃动，增加汽车的平稳性，同时将驱动电机置于车身内部，防止外界砂石撞击驱动电机，导致驱动电机损坏，有利于提高对驱动电机的防护性。
The invention relates to the technical field of automobile steering mechanisms, and discloses a motor-driven four-wheel independent steering mechanism for automobiles. , the movable shaft of the drive motor is fixedly connected with a transmission shaft, the right end of the transmission shaft is fixedly connected with a fixed ball cage universal joint through splines, and the fixed ball cage universal joint is connected with the fixed shaft on the wheel The left end is fixedly connected by a spline. Through the setting of the drive motor and the ball cage, the power transmission of the wheel is relatively independent from the steering. When the wheel is turned within a range of 0-45 degrees, the drive motor and the body remain relatively static, reducing the shaking of the auto parts and increasing the speed of the vehicle. At the same time, the drive motor is placed inside the body to prevent the external sand and gravel from hitting the drive motor and cause damage to the drive motor, which is beneficial to improve the protection of the drive motor.
Description
Technical Field
The invention relates to the technical field of automobile steering mechanisms, in particular to an automobile four-wheel independent steering mechanism based on motor driving.
Background
The traditional fuel oil vehicle can generate a large amount of harmful waste gas in the using process, the traffic energy consumption is also the main reason of causing the environmental problems of local environmental pollution, global greenhouse gas emission and the like, so the shortage of petroleum resources and the urgency of protecting the environment of human beings, and along with the improvement of the living standard of people and the progress of automobile technology, the requirements of people on automobiles are more and more elaborate and more complex, the factors all push the automobile industry to develop towards the direction of electromotion and intellectualization, but the steering mechanism of the automobile still has some defects as follows:
for example, 201610352299.6 patent has four wheels side motor drive and four wheels independent steering electric vehicle chassis assembly to control the steering of the wheels independently, and make each wheel can realize omnidirectional free rotation, but its structure still has some defects, for example, its driving motor is connected with steering bracket arm through the bogie, and provides power for the wheels, so it rotates following the steering of the wheels, and is in suspension state, in the steering process of the vehicle, it can produce certain swing force, so the vehicle body can swing, reduce the running stability of the vehicle, and produce certain harm to the driving, at the same time, its steering process directly has the steering motor to drive the wheels directly to steer, the steering range can be switched freely in 0-90 degrees, but in the vehicle running process, when emergency occurs, the steering angle is too large, and the wheels can be stuck, the vehicle speed can cause the car to turn on one's side at the excessive speed, causes huge threat to the driver, and it can't be injectd the angle that the wheel turned to its steering motor output shaft passes through the ring flange and connects the bogie, so in the steering process, even the steering angle is 90 degrees, the steering motor output shaft only rotates half a circle, so the rotation torque that the steering motor received is very huge, burns out the motor easily, increases cost of maintenance.
Disclosure of Invention
The invention provides a motor-driven automobile four-wheel independent steering mechanism, which has the advantages of multiple steering modes and wide steering angle range and solves the problems in the background technology.
The invention provides the following technical scheme: a motor-driven independent steering mechanism for four wheels of an automobile comprises an automobile body and wheels, wherein a fixed shaft is fixedly arranged in the middle of each wheel, a driving motor is movably arranged at the bottom of the automobile body, a transmission shaft is fixedly connected with a movable shaft of the driving motor, the right end of the transmission shaft is fixedly connected with a fixed ball-cage type universal joint through splines, the fixed ball-cage type universal joint is fixedly connected with the left end of the fixed shaft on the wheel through splines, a movable sleeve is movably sleeved on the wheel fixed shaft and positioned on the right side of the fixed ball-cage type universal joint, a supporting plate is movably sleeved at the bottom of the movable sleeve, the left end of the supporting plate is fixedly connected with the automobile body, an arc-shaped plate is fixedly arranged on the upper surface of the driving motor, a steering motor is fixedly arranged at the top of the automobile body and positioned above the arc-shaped plate, and, the bottom of axis of rotation and the middle part swing joint of automobile body, the activity joint has initiative bevel gear in the axis of rotation, the top of automobile body just is located the right side fixed mounting who turns to the motor and has movable stop component, the middle part fixed mounting of movable stop component has the hydraulic stem, the top fixed mounting of hydraulic stem has the sleeve, the driving medium has been cup jointed in the activity of the sleeve of hydraulic stem, medium-sized bevel gear is installed to the symmetry respectively at the both ends of driving medium, the medium-sized bevel gear and the initiative bevel gear meshing of driving medium left end, the last fixed surface of movable sleeve installs bevel gear two, the upper surface of bevel gear two is through axle fixedly connected with bevel gear one, the medium-sized bevel gear and the bevel gear one meshing of driving medium right.
Preferably, the upper surface of the arc-shaped plate is fixedly provided with an arc-shaped rack, and an included angle between two ends of the arc-shaped rack is 90 degrees.
Preferably, the bottom of the vehicle body is provided with a fan-shaped movable clamping groove, and the fan-shaped angle of the movable clamping groove is 180 degrees.
Preferably, the drive bevel gear is movably sleeved with a connecting sleeve, and the connecting sleeve is movably sleeved with the medium bevel gear at the left end of the transmission member.
Preferably, the teeth arranged on the first bevel gear account for a quarter of a semicircle, and the teeth arranged on the second bevel gear account for two eighth of a semicircle.
Preferably, the transmission ratio i of the drive bevel gear to the medium bevel gear at the left end of the transmission member is14, the transmission ratio i of the bevel gear at the right end of the transmission member to the first bevel gear2And 2, the second bevel gear has the same specification as the first bevel gear.
The invention has the following beneficial effects:
1. through the setting of driving motor and ball cage, carry out relatively independent with the power transmission of wheel and turn to, when the wheel carries out the turning to of 0-45 degree within range, driving motor and automobile body keep static relatively, reduce rocking of automobile parts, increase the stationarity of car, arrange driving motor inside the automobile body in simultaneously, prevent that external grit from striking driving motor, lead to driving motor to damage, be favorable to improving the protectiveness to driving motor.
2. The steering angle of the wheels is divided into two stages, namely 0-45 degrees and 45-90 degrees through the arrangement of the first bevel gear, the second bevel gear and the arc-shaped teeth on the arc-shaped plate, so that when the automobile is subjected to emergency large-angle steering, the rotation angle of the automobile is limited within 45 degrees, the probability that the wheels are suddenly locked is effectively reduced, the rollover incidence rate of the automobile is reduced, large-angle steering is performed only when the automobile needs to be steered to 45-90 degrees and the automobile speed is slow, and the driving safety of the automobile is ensured.
3. Through the arrangement of the transmission ratio between the medium-sized bevel gear on the driving bevel gear and the transmission part and between the medium-sized bevel gear and the bevel gear on the transmission part, the circumferential speed is reduced step by step, the transmission stability is improved, the steering safety is improved, the rotating torque of the steering motor is reduced, the burning out of the steering motor is effectively prevented, the safety of the steering motor is improved, and the service life of the steering motor is prolonged.
Drawings
FIG. 1 is a schematic front view of the structure of the present invention;
FIG. 2 is a schematic top view of the structure of the present invention;
FIG. 3 is a schematic top view of a bevel gear according to the present invention;
FIG. 4 is a schematic top view of a bevel gear according to the present invention;
FIG. 5 is a schematic view of the present invention illustrating the installation of the rotating shaft and the drive bevel gear;
FIG. 6 is an enlarged view of the point A in FIG. 1;
FIG. 7 is a schematic view of a first embodiment of the present invention in a structural vehicle mode;
FIG. 8 is a schematic view of a second embodiment of the present invention;
FIG. 9 is a schematic diagram of three principles of the structural automotive model of the present invention;
fig. 10 is a schematic diagram of the four principle structures of the automobile model.
In the figure: 1. a vehicle body; 2. a wheel; 3. a drive motor; 4. a transmission shaft; 5. a fixed rzeppa universal joint; 6. a support plate; 7. a movable sleeve; 8. an arc-shaped plate; 9. a steering motor; 10. a rotating shaft; 11. a drive bevel gear; 12. connecting sleeves; 13. a movable stop member; 14. a hydraulic lever; 15. a transmission member; 16. a second bevel gear; 17. and a first bevel gear.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-10, a motor-driven independent steering mechanism for four wheels of an automobile comprises an automobile body 1 and wheels 2, a fixed shaft is fixedly installed in the middle of each wheel 2, a driving motor 3 is movably installed at the bottom of the automobile body 1, a transmission shaft 4 is fixedly connected to a movable shaft of the driving motor 3, a fixed type ball-and-cage type universal joint 5 is fixedly connected to the right end of the transmission shaft 4 through a spline, the fixed type ball-and-cage type universal joint 5 is fixedly connected to the left end of the fixed shaft on the wheels 2 through a spline, a movable sleeve 7 is movably sleeved on the fixed shaft of the wheels 2 and positioned on the right side of the fixed type ball-and-cage type universal joint 5, a supporting plate 6 is movably sleeved at the bottom of the movable sleeve 7, the left end of the supporting plate 6 is fixedly connected to the automobile body 1, an arc plate 8 is fixedly installed on the upper surface of, the movable end of the steering motor 9 is fixedly connected with a rotating shaft 10, the bottom end of the rotating shaft 10 is movably connected with the middle of the vehicle body 1, a driving bevel gear 11 is movably clamped on the rotating shaft 10, a movable limiting member 13 is fixedly mounted at the top of the vehicle body 1 and positioned on the right side of the steering motor 9, a hydraulic rod 14 is fixedly mounted in the middle of the movable limiting member 13, a sleeve is fixedly mounted at the top end of the hydraulic rod 14, a transmission member 15 is movably sleeved in the sleeve of the hydraulic rod 14, medium-sized bevel gears are symmetrically mounted at two ends of the transmission member 15 respectively, the medium-sized bevel gear at the left end of the transmission member 15 is meshed with the driving bevel gear 11, a bevel gear II 16 is fixedly mounted on the upper surface of the movable sleeve 7, a bevel gear I17 is fixedly connected on the upper surface.
Wherein, the upper surface of the arc-shaped plate 8 is fixedly provided with an arc-shaped rack, the included angle between the two ends of the arc-shaped rack is 90 degrees, in the ordinary steering process, only when the wheel 2 is rotated and steered from 45 degrees to minus 45 degrees, the steering motor 9 sequentially passes through the rotating shaft 10, the driving bevel gear 11 and the transmission part 15, the power is transmitted to the bevel gear 17, the wheel 2 is driven to rotate through the movable sleeve 7, and then the automobile is steered, but when the wheel 2 needs to rotate over 45 degrees, because the transmission limit of the fixed ball cage type universal joint 5 is reached, the transmission part 15 descends to be respectively combined with the arc-shaped rack and the bevel gear 16 on the arc-shaped plate 8, respectively drives the driving motor 3 to rotate together with the wheel 2, the rotatable angle of the wheel 2 is increased, the rotatable angle of the wheel can reach 90 degrees to the maximum, larger angle conversion is carried out, the steering radius of the automobile is, the steering can be quickly realized.
Wherein, fan-shaped movable clamping groove has been seted up to the bottom of automobile body 1, and its fan-shaped angle is 180 degrees, guarantees the activity allowance of arc 8, ensures that wheel 2 turns to and goes on smoothly, utilizes arc 8 to carry out the chucking to driving motor 3 simultaneously, prevents that it from turning on one's side.
The connecting sleeve 12 is movably sleeved on the drive bevel gear 11, the connecting sleeve 12 is movably sleeved with the medium-sized bevel gear at the left end of the transmission member 15, the drive bevel gear 11 and the medium-sized bevel gear at the left end of the transmission member 15 are relatively connected and fixed, linkage between the drive bevel gear and the medium-sized bevel gear is ensured, when the transmission member 15 descends, the drive bevel gear 11 can be driven to slide on the rotating shaft 10 and descend, the position of the drive bevel gear 11 on the rotating shaft 10 is limited, impact of the drive bevel gear 11 with the transmission member 15 in the transmission process is reduced, and safety of the drive bevel gear and the transmission.
Wherein, the tooth that sets up on the bevel gear 17 accounts for the quarter semicircle, the tooth that sets up on the bevel gear two 16 accounts for two eighth semicircles, when driving medium 15 combines the transmission with bevel gear 17, make bevel gear 17 can anticlockwise and clockwise respectively rotate 45 degrees, reach the transmission terminal point promptly, effectively avoid wheel 2 turned angle too big, cause fixed type ball cage universal joint 5 because the fixed axle contained angle on transmission shaft 4 and the wheel 2 is too big, unable transmission moment of torsion, cause wheel 2 stall, make the vehicle out of control, cause danger to the driver, when driving medium 15 combines with bevel gear two 16, can make wheel 2 follow driving motor 3 and rotate together, when guaranteeing the torque transmission, realize great angle's turn to.
Wherein, the transmission ratio i of the medium bevel gear at the left end of the driving bevel gear 11 and the transmission member 151The transmission ratio i of the bevel gear at the right end of the transmission member 15 to the first bevel gear 17 is 42When the drive bevel gear 11 rotates for one circle, the transmission member 15 rotates for one quarter of a circle, and the bevel gear 17 rotates for one eighth of a circle, so that the circumferential speed is reduced step by step, the transmission stability is improved, and the steering safety is improved.
The theory of operation, at the beginning, wheel 2 is in the horizontality, loops through transmission shaft 4 and fixed type rzeppa universal joint 5 transmission moment of torsion by driving motor 3, drives wheel 2 and rotates, makes the car be the straight line state of traveling, when needs turn to, one of them, as shown in figure 7, only the preceding two-wheeled of car carries out the transform of angle and the angle transform does not all exceed 45 degrees, and its steering process is: by turning to motor 9 and passing through axis of rotation 10, initiative bevel gear 11 and driving medium 15 in proper order, give bevel gear 17 with power transmission, drive wheel 2 through movable sleeve 7 and rotate, and then make the car turn to, its two, as shown in figure 8, the four-wheel all carries out the transform of angle and the angle transform is not more than 45 degrees, but the direction that turns to is the same, its theory of operation is the same as above, but the turning radius of car shortens, its three, as shown in figure 9, the angle of turning to of four-wheel is 90 degrees, its theory of operation is: after the wheel 2 rotates 45 counterclockwise, the hydraulic rod 14 is used for pushing the transmission part 15 to descend, so that the medium bevel gear at the right end of the transmission part 15 is combined with the bevel gear II 16, the medium bevel gear at the left end of the transmission part 15 is combined with the mutual racks on the arc-shaped plate 8, the steering motor 9 is made to rotate reversely, the driving motor 3 is driven to rotate counterclockwise, meanwhile, the transmission part 15 and the bevel gear II 16 are used for transmission, so that the movable sleeve 7 drives the wheel 2 to continue rotating 45 degrees counterclockwise and then stop, at the moment, side parking can be performed, and fourthly, as shown in the attached drawing 10, the front right wheel and the rear left wheel of the automobile rotate counterclockwise by the same angle, the front left wheel and the rear right wheel of the automobile rotate clockwise by the same angle, the automobile steering center is the center of a connecting.
It is noted that, herein, relational terms such as first and second, and the like may be 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. Also, 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 appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. The utility model provides an independent steering mechanism of car four-wheel based on motor drive, includes automobile body (1) and wheel (2), the middle part fixed mounting of wheel (2) has fixed axle, its characterized in that: the automobile body is characterized in that a driving motor (3) is movably mounted at the bottom of the automobile body (1), a transmission shaft (4) is fixedly connected with a movable shaft of the driving motor (3), a fixed type ball cage type universal joint (5) is fixedly connected with the right end of the transmission shaft (4) through a spline, the left end of a fixed shaft on the fixed type ball cage type universal joint (5) and the wheel (2) is fixedly connected through the spline, a movable sleeve (7) is movably sleeved on the right side of the fixed type ball cage type universal joint (5) on the wheel (2), a supporting plate (6) is movably sleeved at the bottom of the movable sleeve (7), the left end of the supporting plate (6) is fixedly connected with the automobile body (1), an arc plate (8) is fixedly mounted on the upper surface of the driving motor (3), and a steering motor (9) is fixedly mounted at the top of the automobile body (1) and above the arc plate (8, the steering gear is characterized in that a rotating shaft (10) is fixedly connected to the movable end of the steering motor (9), the bottom end of the rotating shaft (10) is movably connected with the middle of a vehicle body (1), a driving bevel gear (11) is movably clamped on the rotating shaft (10), a movable limiting member (13) is fixedly mounted at the top of the vehicle body (1) and positioned on the right side of the steering motor (9), a hydraulic rod (14) is fixedly mounted in the middle of the movable limiting member (13), a sleeve is fixedly mounted at the top end of the hydraulic rod (14), a transmission part (15) is movably sleeved in the sleeve of the hydraulic rod (14), medium bevel gears are symmetrically mounted at two ends of the transmission part (15) respectively, the medium bevel gear at the left end of the transmission part (15) is meshed with the driving bevel gear (11), and a bevel gear II (16) is fixedly mounted on the upper, the upper surface of the bevel gear II (16) is fixedly connected with a bevel gear I (17) through a shaft, and the medium-sized bevel gear at the right end of the transmission member (15) is meshed with the bevel gear I (17).
2. The four-wheel independent steering mechanism of the motor-driven automobile according to claim 1, characterized in that: an arc-shaped rack is fixedly arranged on the upper surface of the arc-shaped plate (8), and an included angle between two ends of the arc-shaped rack is 90 degrees.
3. The four-wheel independent steering mechanism of the motor-driven automobile according to claim 1, characterized in that: the bottom of the car body (1) is provided with a fan-shaped movable clamping groove, and the fan-shaped angle of the fan-shaped movable clamping groove is 180 degrees.
4. The four-wheel independent steering mechanism of the motor-driven automobile according to claim 1, characterized in that: a connecting sleeve (12) is movably sleeved on the driving bevel gear (11), and the connecting sleeve (12) is movably sleeved with the medium-sized bevel gear at the left end of the transmission member (15).
5. The four-wheel independent steering mechanism of the motor-driven automobile according to claim 1, characterized in that: the teeth arranged on the first bevel gear (17) account for a quarter of a semicircle, and the teeth arranged on the second bevel gear (16) account for two eighth of a semicircle.
6. The four-wheel independent steering mechanism of the motor-driven automobile according to claim 1, characterized in that: the transmission ratio i of the drive bevel gear (11) to the medium bevel gear at the left end of the transmission part (15)14, the transmission ratio i of the bevel gear at the right end of the transmission member (15) to the bevel gear I (17)22, the bevel gear II (16) has the same specification as the bevel gear I (17).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011126706.4A CN112193316B (en) | 2020-10-20 | 2020-10-20 | A four-wheel independent steering mechanism based on motor drive |
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| CN202011126706.4A CN112193316B (en) | 2020-10-20 | 2020-10-20 | A four-wheel independent steering mechanism based on motor drive |
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| CN112193316A CN112193316A (en) | 2021-01-08 |
| CN112193316B true CN112193316B (en) | 2021-06-18 |
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| CN202011126706.4A Active CN112193316B (en) | 2020-10-20 | 2020-10-20 | A four-wheel independent steering mechanism based on motor drive |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115364415A (en) * | 2022-08-23 | 2022-11-22 | 江苏桐方消防科技集团股份有限公司 | Indoor robot fire extinguishing device with replaceable fire extinguishing agent |
| CN120370847B (en) * | 2025-04-18 | 2025-11-07 | 广东工业大学 | A motion control method for a four-wheeled, four-rotor mobile robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6965820B2 (en) * | 2001-09-18 | 2005-11-15 | Delphi Technologies, Inc. | Robust steering-pull torque compensation |
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| CN201842130U (en) * | 2010-10-19 | 2011-05-25 | 吉林大学 | Electromobile and drive-by-wire independent driving and steering automobile traveling mechanism with zero-offset master pin |
| CN103072627A (en) * | 2013-01-23 | 2013-05-01 | 中国农业大学 | Electric chassis with four independent turning wheels |
| CN105313953A (en) * | 2015-08-26 | 2016-02-10 | 杭州伯坦科技工程有限公司 | Motor vehicle single wheel device characterized by independent steering and wheel-side driving and control method |
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| 基于卓越工程师计划的汽车服务工程专业人才培养模式改革与研究;刘玮等;《课程教育研究》;CNKI中国期刊全文数据库;20131005(第28期);242-242 * |
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Effective date of registration: 20220804 Address after: 255000 Zone 8, advanced manufacturing industrial innovation park, No. 52, Huabei Road, high tech Zone, Zibo City, Shandong Province Patentee after: ZIBO NEWSTART ROBOT SYSTEM TECHNOLOGY Co.,Ltd. Address before: 224000 middle road of hope Avenue, Yancheng City, Jiangsu Province, No. 1 Patentee before: YANCHENG INSTITUTE OF TECHNOLOGY |
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