CN113276939A - Independent steering independent driving modular wheel type movement unit system - Google Patents
Independent steering independent driving modular wheel type movement unit system Download PDFInfo
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- CN113276939A CN113276939A CN202110771610.1A CN202110771610A CN113276939A CN 113276939 A CN113276939 A CN 113276939A CN 202110771610 A CN202110771610 A CN 202110771610A CN 113276939 A CN113276939 A CN 113276939A
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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
- B62D5/0418—Electric motor acting on road wheel carriers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G3/00—Resilient suspensions for a single wheel
- B60G3/18—Resilient suspensions for a single wheel with two or more pivoted arms, e.g. parallelogram
- B60G3/28—Resilient suspensions for a single wheel with two or more pivoted arms, e.g. parallelogram at least one of the arms itself being resilient, e.g. leaf spring
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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
- B60G2300/00—Indexing codes relating to the type of vehicle
- B60G2300/50—Electric vehicles; Hybrid vehicles
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Power Steering Mechanism (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
Abstract
The invention discloses a modularized wheel type movement unit system integrating functions of steering, shock absorption, driving and the like, which comprises a steering motor, a corner sensor, a fixed connection shell (an upper motor, a middle speed reducer and a lower tire), a speed reducer, a damping spring, a rotation speed sensor, a hub motor, a rotating shaft, other main pins, a gasket, a fixing screw and the like. After the steering motor is provided with the steering angle sensor, the steering motor is fixed on the upper part fixed connection shell and connected with the speed reducer, so that the execution precision and the output torque of the steering motor can be improved, and the lower part large-mass steering device provided with the hub motor is ensured to have enough torque to steer; adopt collapsible two fork's fixed scheme between damping spring and the fixed bolster, when guaranteeing enough firm, guarantee to move away to avoid possible earthquakes effect and sufficient hardness for the system still can stabilize and advance under great acceleration. In addition, the upper part is connected with the shell, and an outer hole and a clamping groove are reserved, so that the modular unit can be conveniently connected with a vehicle body structure. The whole structure has no other complex connection and structure, and the structure is simple and compact, thereby being convenient for quick arrangement, maintenance and repair.
Description
Technical Field
The invention belongs to the technical field of electric automobiles and wheeled mobile robots, and particularly relates to an independent steering independent driving modular wheeled motion unit system.
Background
Electric vehicles and electric wheeled mobile robot technology are one of the core development directions of the future automobile industry and the robot industry. In recent years, the progress of hub motors brings new opportunities for the development of next-generation novel robots and electric automobiles. However, the existing chassis structure has long development and processing period, more limitations and high economic cost, and further development and application of electric automobiles and electric wheeled mobile robots are limited. Meanwhile, it is difficult to have a platform that can solve the problems of stability, maneuverability, controllability and the like at the same time, which makes the development of high-performance platforms extremely difficult and also makes the application of the platforms greatly limited.
Most of the patents seen at present are four-wheel independent steering chassis of electric automobiles and robots, which can be divided into two types of vertical steering and axial steering according to specific structural arrangement. The vertical direction can realize the steering of plus or minus 90 degrees, and the steering range is large; the axial connection is complicated, and the steering angle is small. Generally speaking, they separate the steering structure from the suspension, are complex and are complex to manufacture, assemble and maintain.
Patent CN101638052B provides an integrated wheel assembly design with independent driving, steering, suspension and braking, and a steering motor is connected with a universal joint to drive the steering joint to rotate to complete steering. This project organization is complicated, and occupation space is big, and is high to the manufacturing of earlier stage, the maintenance requirement in later stage, and the precision that turns to actuating mechanism is difficult to control, and the mobility and the stability of platform are difficult to guarantee. Patent CN101716954A has given a four-wheel steering four wheel drive-by-wire platform's design, when turning to motor and wheel direct linking to each other, turns to the motor and fixes on chassis support, turns to actuating mechanism and is open-loop control's steering wheel, turns to the moment of torsion not enough, and the execution precision is low, is difficult to guarantee the mobility and the stability of platform. Patent CN102431586A has designed an integration and has turned to and suspension system, need not solitary suspension guide bar, simple structure for the wheel turns to the space and promotes greatly. However, the steering system adopts spline transmission, the devices are easy to wear and damage, and the processing cost and the maintenance cost of the system are increased sharply; on the other hand, there is no flexible fixed structure between the system and the chassis, and installation and overall maintenance become difficult. Patent CN107856760A discloses a four-wheel steering universal chassis with adjustable parameters, and the size of the chassis can be adjusted. The platform omits a suspension system, and meanwhile, the steering execution is completed by a hydraulic motor, and a sensor is not arranged, so that the steering precision is poor, and the platform is only suitable for low-speed motion operation. Patent CN106938677B discloses a four-wheel steering wheel type agricultural four-wheel drive transport vehicle, which omits a suspension system, a steering motor is connected with a driving part through a gear, and the meshing precision of the gear is directly related to the precision of steering control, so that the requirement on processing precision is high, and the control precision is difficult to guarantee. Patent CN107839424A discloses a steer-by-wire four-wheel steering and driving integrated suspension system, which has a similar structure to patent CN102431586A, and adopts a structure that a steering servo motor is directly connected with a damping spring and a damper through a speed reducer, the force of the longitudinal motion of the vehicle is transmitted to the vehicle body through the damper, the requirement on the damper is high, and once the vehicle is damaged, the upper steering structure, the lower hub structure, the upper part of a supporting rod and the upper part of a kingpin are required to be opened for maintenance and replacement, therefore, the structure is complex, the modularization degree is low, and the maintenance and the parts are difficult, and meanwhile, the whole suspension system does not have a connection interface with a chassis.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, provides an independent steering and independent driving modular wheel type motion unit system which has the advantages of simple and compact structure, strong universality, flexible disassembly and high modularization degree and provides rich feedback information, and provides a basic wheel type unit integrating suspension, steering and driving for an electric automobile or a wheel type mobile robot with good stability, strong maneuverability and superior controllability. The technical scheme of the invention is as follows:
the shell part between the steering motor and the upper bracket is divided into an upper part and a lower part which are hollow so as to be convenient for configuring and fixing the speed reducer. The side screw holes and the clamping grooves are used for expanding the structure of the connecting chassis. The shell is connected with the steering motor, the speed reducer is embedded in the middle of the shell, the extension of the speed reducer is fastened with the two sides of the shell to form a supporting structure for the shell, and on one hand, the shell can improve the strength of vertical supporting force; on the other hand, the support of the speed reducer on the shell can improve the lateral stress strength of the shell, and the speed reducing belt is connected with the upper support frame to form a steering transmission mechanism. The used accessories are standard accessories, are easy to produce and purchase, are replaced and maintained, and are provided with a steering sensor and improve the steering output torque.
The upper supporting frame adopts a structure shaped like a Chinese character 'ji', so that on one hand, the wind resistance during movement is reduced, and on the other hand, the structure is easy to integrally form. Meanwhile, compared with other configuration modes, the obtuse angle has the advantages of high structural strength and good stability. The lower supporting fork frame is fixed with the upper supporting frame through a rotating shaft to form a square closed structure. The connecting part of the lower supporting fork frame is compared with the whole chassis, and the weight is lighter, so that the upper supporting frame is fixed in the movement process, and the lower supporting fork frame can move up and down according to different terrains, so that the effects of adapting to terrains, avoiding shock and reducing the influence of tire shock on the whole chassis are achieved.
The spring and the damper are combined into a whole to form a shock absorbing system, the upper part of the system is fixedly connected with the corner of the upper support frame, and the lower part of the system is connected with the lower support fork frame through a rotating shaft. Thus, the suspension system, the upper support frame and the lower support fork form a triangular structure, the point of the lower support fork fixedly connected with the hub motor can rotate up and down around the rotating shaft, and the lengths of the spring and the damper can be actively or passively changed. Thus, on one hand, a stable triangular structure is formed, and the steering torque and the driving/braking force act on the structure to improve the rigidity of the whole structure; on the other hand, the shock absorption system and the ground form fixed angle motion, so that the problems of tire jumping, poor contact with the ground and the like are avoided.
The steering motor part is provided with a steering sensor, measures a steering angle, provides a steering angle feedback signal, lays a foundation for steering angle feedback control, and improves the execution precision of a steering system. The wheel hub motor is provided with a wheel rotating speed sensor, and can realize the measurement of the steering and the speed of the wheel. The wheel speeds are the basic feedback signals for the current research on torque control, yaw moment control, etc. The system can realize driving/braking force control by matching with a vehicle speed sensor, and improves the speed control precision of the system; and by matching with an automobile body attitude sensor, the yaw moment can be controlled, and the stability of a steering system is improved. Therefore, the configuration of the two types of sensors lays a foundation for obtaining a high-precision and high-performance wheel type mobile platform.
The device, the corresponding nut, the gasket and the like are assembled to form an independent steering independent driving modular wheel type movement unit system integrating steering, shock absorption and driving. The system has simple, compact and stable structure and rich perception information.
Overall, the system is constructed in a significantly modular manner. The modularized combination of the steering actuator module, the steering motor, the steering sensor, the steering transmission and vehicle body fixing module, the shell, the speed reducer, the upper support frame, the lower support fork frame, the shock absorption module spring, the damper, the driving brake module hub motor, the tire and the like is convenient to produce, assemble and maintain in the later period.
The invention has the advantages that: the steering, suspension and driving systems are integrated, so that the integration is high, the modularization is strong, and the structure is simple and compact; enough interfaces are reserved for connecting with the chassis, so that the wheel type mobile platforms with different functions can be conveniently and quickly combined; the system is provided with enough sensors, ensures the feedback information of the steering control layer, the torque control layer and the driving brake control layer of the system and the feedback information of the execution layer, lays a foundation for ensuring the stability, the maneuverability and the controllability of the platform system, and is beneficial to popularization in the automobile or mobile robot industry.
Drawings
FIG. 1 is a schematic three-dimensional structure diagram of an independent steering independent driving modular wheel type movement unit system according to the present invention
FIG. 2 is a schematic diagram of a three-dimensional structure of a housing of the independent steering independent driving modular wheel type motion unit system of the present invention
Description of reference numerals:
1-steering motor; 2-fixedly connecting the shell; 3-steering sensor; 4-speed reducer; 5-kingpin; 6-damping spring; 7-a damper; 8-upper support frame; 9-lower supporting fork; 10-hub motor; 11-wheel speed sensor; 12-screw and washer; 13-rotating shaft; 14-vehicle body fixing screw hole; and 15, fixing a clamping groove on the vehicle body.
Detailed Description
The present invention will be described in more detail with reference to the accompanying drawings.
As shown in fig. 1 and 2, the independent steering independent driving modular wheel type motion unit system of the invention comprises a steering motor (1), a fixed connection housing (2), a steering sensor (3), a speed reducer (4), a kingpin (5), a damping spring (6), a damper (7), an upper support frame (8), a lower support fork frame (9), a hub motor (10), a wheel speed sensor (11), a screw and a gasket (12), a rotating shaft (13), a vehicle body fixing screw hole (14), a vehicle body fixing clamping groove (15), a control unit, a corresponding connecting circuit and the like. The steering mechanism is characterized in that a steering motor (1) is fixedly connected to a fixed connection shell (2), a steering sensor (3) and a speed reducer (4) are fixed in the fixed connection shell (2) and fixedly connected with the steering motor (1) and an upper support frame (8) at the lower part, and therefore the unit has 360-degree steering capacity. The damping spring (6) and the damper (7) are integrated together and are respectively connected with a main shaft of the hub motor (10) and the upper supporting frame (8) through a rotating shaft (13), so that the hub motor (10) and the tire unit can rotate around the rotating shaft (13), and further have the capability of vertical movement; the upper support frame (8) and the lower support fork frame (9) are connected through a rotating shaft (13) and form a triangular stable structure with the damping spring (6) and the damper (7), and therefore the overall structural strength of the unit is improved. The hub motor (10), the wheel rotating speed sensor (11) and the main pin (5) are fixed through screws, gaskets (12) and the like, so that the whole tire has the function of rotating forwards and backwards, and further has the functions of advancing, retreating, braking and the like. Meanwhile, a vehicle body fixing screw hole (14) and a vehicle body fixing clamping groove (15) are reserved, so that the vehicle bodies of different types can be fastened quickly, and moving platforms with different requirements are formed.
Specifically, the steering motor rotates, the rotation angle is measured by the rotation angle sensor, and the rotation angle is finally applied to the tire after being zoomed by the speed reducer, so that the steering module with torque amplification and steering precision improvement is formed.
The kingpin fastens the system of moving away to avoid possible earthquakes that spring and attenuator are constituteed on last support frame, and last support frame and lower support crotch pass through the rotation axis and connect to through gasket and screw fixation, form and to revolute axis of rotation pivoted shock-proof structure module, the direction motion at attenuator place can be followed to this structure, and the attenuator plays fine effect of moving away to avoid possible earthquakes simultaneously, and then realizes the isolation and the filtration of ground vibrations, reaches the effect of moving away to avoid possible earthquakes.
The hub motor and the wheel speed sensor are fixed on the lower support fork frame through a hub motor spindle, so that the hub motor drives the whole unit to move on the ground, and a driving brake module with longitudinal movement freedom is formed.
The fixed connection shell protects the core fragile component speed reducer and the angle sensor, and provides an open interface for the fixed connection of the system unit and the vehicle body, so that a vehicle body expansion module is formed. The module provides sufficient stress strength, and is convenient to assemble and disassemble, and fault repair and system maintenance in the later period.
Generally, on a hardware level, the steering module performs precise high torque steering while providing a steering angle feedback signal. The shock absorption module ensures that the hub motor and the tire have vertical freedom of movement, and the damper can be selected from a passive type, a semi-active type or an active type so as to form different shock absorption types. The driving brake module executes driving and braking operations, and braking can be directly performed by using a hub motor or by using an additional disc brake to provide sufficient braking force; at the same time, a rotation speed sensor is provided to provide a wheel rotation speed feedback signal. The vehicle body expansion module provides an open connection interface for the inventive unit and different vehicle bodies. In the software level, the invention provides feedback information of steering angle and wheel rotating speed, and provides sufficient guarantee for further combining vehicle body equipped vehicle speed and vehicle attitude feedback information, further realizing steering, driving and shock absorption control from the bottom layer, platform dynamics stable control to the middle layer, final path tracking and other autonomous movement control.
In conclusion, the independent steering independent driving modular wheel type motion unit system is a perfect and breakthrough for the current independent steering and independent driving unit and is a new attempt for a linear control steering system. The steering system inherits the advantages of the traditional steer-by-wire independent steering, integrates the steering system, the suspension system and the driving brake system, is provided with enough sensors, and reserves an interface for connecting with a chassis. The device is suitable for the development of novel automobiles, and is more suitable for the condition of steering in a smaller space, such as a household-accessible mini-car, an electric wheelchair, a lunar vehicle, a workshop robot, an agricultural robot and the like.
Claims (4)
1. The utility model provides a wheel-type motion unit system of independent drive modularization that turns to, including turning to motor (1), fixed connection casing (2), turn to sensor (3), reduction gear (4), swizzle (5), damping spring (6), attenuator (7), upper support frame (8), lower support crotch (9), in-wheel motor (10), wheel speed sensor (11), screw and gasket (12), axis of rotation (13), automobile body fixed screw (14), automobile body fixed slot (15) and the interconnecting link etc. that control unit and correspond. The steering mechanism is characterized in that a steering motor (1) is fixedly connected to a fixed connection shell (2), a steering sensor (3) and a speed reducer (4) are fixed in the fixed connection shell (2) and fixedly connected with the steering motor (1) and an upper support frame (8) at the lower part, and therefore the unit has 360-degree steering capacity. The damping spring (6) and the damper (7) are integrated together and are respectively connected with a main shaft of the hub motor (10) and the upper supporting frame (8) through a rotating shaft (13), so that the hub motor (10) and the tire unit can rotate around the rotating shaft (13), and further have the capability of vertical movement; the upper support frame (8) and the lower support fork frame (9) are connected through a rotating shaft (13) and form a triangular stable structure with the damping spring (6) and the damper (7), and therefore the overall structural strength of the unit is improved. The hub motor (10), the wheel rotating speed sensor (11) and the main pin (5) are fixed through screws, gaskets (12) and the like, so that the whole tire has the function of rotating forwards and backwards, and further has the functions of advancing, retreating, braking and the like. Meanwhile, a vehicle body fixing screw hole (14) and a vehicle body fixing clamping groove (15) are reserved, so that the vehicle bodies of different types can be fastened quickly, and moving platforms with different requirements are formed.
2. An independent steering independent driving modular wheel type movement unit system according to claim 1, characterized in that the fixed connection housing (2) is divided into an upper part and a lower part, the upper part is fixedly connected with the steering motor (1), and the lower part is fixedly connected with the upper support frame (8) and the speed reducer (4); meanwhile, enough holes are reserved in the upper shell so as to be connected and fixed with the vehicle body quickly to form the mobile platform.
3. An independent steering independent drive modular wheeled locomotion unit system according to claim 1, characterized in that the upper support frame (8), the lower support fork (9), the kingpin (5), the damper spring (6) and the damper (7) form a stable triangular structure and are connected by a rotating shaft (13). The lower supporting fork frame (9) is not limited to be fixed with the hub motor at two sides, and can be fixed at two sides or fixed at one side. The damper (7) is not limited to passive but may be active or semi-active.
4. The system of claim 1, further characterized in that a steering sensor (3) and a wheel rotation speed sensor (11) are connected to the steering motor (1) and the in-wheel motor (10), respectively, the steering sensor (3) can detect a wheel rotation angle, the wheel rotation speed sensor (11) can detect a wheel rotation speed, if necessary, a wheel rotation shaft speed sensor can detect a wheel translation linear speed, and the system is in communication with the control unit based on a single chip microcomputer, a serial port or a can bus, etc. to form a comprehensive steering and speed detection feedback signal, thereby laying a foundation for realizing high-precision speed and steering closed-loop control of the system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110771610.1A CN113276939A (en) | 2021-07-08 | 2021-07-08 | Independent steering independent driving modular wheel type movement unit system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110771610.1A CN113276939A (en) | 2021-07-08 | 2021-07-08 | Independent steering independent driving modular wheel type movement unit system |
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| Publication Number | Publication Date |
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| CN113276939A true CN113276939A (en) | 2021-08-20 |
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| CN202110771610.1A Pending CN113276939A (en) | 2021-07-08 | 2021-07-08 | Independent steering independent driving modular wheel type movement unit system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP4183665A1 (en) * | 2021-11-23 | 2023-05-24 | Hyundai Mobis Co., Ltd. | Corner module apparatus for vehicle |
| EP4286182A1 (en) * | 2022-06-03 | 2023-12-06 | Hyundai Mobis Co., Ltd. | Corner module apparatus for vehicle |
| KR102688427B1 (en) | 2022-06-03 | 2024-07-25 | 현대모비스 주식회사 | Corner module apparatus for vehicle |
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| CN112739558A (en) * | 2020-12-25 | 2021-04-30 | 华为技术有限公司 | Suspension structure, angle module system and automobile |
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2021
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| EP4183665A1 (en) * | 2021-11-23 | 2023-05-24 | Hyundai Mobis Co., Ltd. | Corner module apparatus for vehicle |
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