CN115716501A - Transmission device, steering system and whole vehicle - Google Patents
Transmission device, steering system and whole vehicle Download PDFInfo
- Publication number
- CN115716501A CN115716501A CN202211549255.4A CN202211549255A CN115716501A CN 115716501 A CN115716501 A CN 115716501A CN 202211549255 A CN202211549255 A CN 202211549255A CN 115716501 A CN115716501 A CN 115716501A
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- Prior art keywords
- stage worm
- stage
- worm
- wheel
- transmission
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The invention provides a transmission device, which comprises a steering motor, a first-stage worm wheel, a second-stage worm, a first-stage worm wheel shaft and an angle unit, wherein the first-stage worm wheel shaft is connected with the steering motor; the first end of the steering motor is rotationally connected with the second end of the first-stage worm; the transmission area of the first-stage worm is in embedded transmission connection with the transmission area of the first-stage worm wheel; the central through hole part of the first-stage worm wheel penetrates through a first-stage worm wheel shaft, and the first end of the second-stage worm is connected with the second end of the first-stage worm wheel shaft; the transmission area of the second-stage worm is in transmission connection with the angle unit; the steering motor, the first-stage worm wheel, the second-stage worm, the first-stage worm wheel shaft and the angle unit are all arranged in the worm wheel and worm transmission box; when the steering motor works, the steering motor can drive the first-stage worm, the first-stage worm wheel and the second-stage worm to rotate around the axis of the angle unit, and further drive the worm and gear transmission box to rotate around the axis of the angle unit.
Description
Technical Field
The invention relates to the field of chassis of a finished automobile, in particular to a transmission device, a steering system and the finished automobile.
Background
In the prior art, there is a double wishbone suspension system for an in-wheel motor, the system comprising an upper arm having a first end arranged to be pivotally connected to an upper portion of a motor mounting plate and two second ends spaced apart relative to each, wherein each second end of the upper arm is arranged to be connected to a first and second suspension mounting point respectively. A lower arm having a first end arranged to be pivotally coupled to the lower portion of the motor mounting plate and two second ends spaced relative to each other, wherein each second end of the lower arm is arranged to be connected to a third and fourth suspension mounting point, respectively; the first coupling member has a first end pivotally coupled to the lower arm between the first and second ends of the lower arm, and the second end of the first coupling member is pivotally coupled to a first end of the second coupling element, wherein an end of the second coupling member is arranged to be pivotally coupled to the motor mounting plate at a location between the first end of the upper arm and the first end of the lower arm.
The technical defects of the prior art include that the structure is complex, the number of used parts is large, and meanwhile, the steering mechanism is generally arranged on the upper portion of the angle unit in the prior art, so that the space utilization rate of the upper portion of the chassis is low.
Disclosure of Invention
The invention provides a transmission device, a steering system and a whole vehicle, which are used for saving the space of a chassis of the whole vehicle and improving the utilization rate of the space on the upper part of the chassis.
According to a first aspect of the present invention, there is provided a transmission comprising a steering motor, a first-stage worm wheel, a second-stage worm, a first-stage worm wheel shaft, and an angle unit;
the first end of the steering motor is rotationally connected with the second end of the first-stage worm;
the transmission area of the first-stage worm is in embedded transmission connection with the transmission area of the first-stage worm wheel;
the central through hole part of the first-stage worm wheel penetrates through the first-stage worm wheel shaft, and the first end of the second-stage worm is connected with the second end of the first-stage worm wheel shaft;
the transmission area of the second-stage worm is in transmission connection with the angle unit.
Optionally, the angle unit includes an angle sensor, a rotating shaft, a second-stage worm gear cover, a sensor connecting rod and a bearing seat;
the angle sensor is rotationally connected with the first end of the sensor connecting rod through a coupler and is fixedly connected with the first surface of the rotating shaft;
the second-stage worm gear cover is positioned at the lowest end of the angle unit, and the rotating shaft, the second-stage worm gear, the bearing seat and the second-stage worm gear cover are all provided with central through holes, so that the sensor connecting rod can penetrate through the rotating shaft, the second-stage worm gear and the bearing seat to be inserted into the through holes of the second-stage worm gear cover and is fixed with the second-stage worm gear cover;
the second-stage worm gear cover is fixed on the second surface of the bearing seat;
the second face of pivot with the first face of second level worm wheel passes through spline fixed connection, just the pivot with the second level worm wheel as a whole with the first face of bearing frame is rotated and is connected.
Optionally, a milling flat structure is arranged on the sensor connecting rod, and a plane of the milling flat structure is compressed by a bolt and a nut which are arranged on the second-stage worm wheel cover, so that the sensor connecting rod and the second-stage worm wheel cover do not rotate relatively.
Optionally, the angle unit, the first-stage worm wheel, the second-stage worm and the first-stage worm wheel shaft are all fixed in a worm wheel and worm transmission case;
the first end of the first-stage worm wheel shaft is connected with a first-stage worm wheel cover, and the first-stage worm wheel cover is fixed with the worm gear transmission case through bolts and nuts;
the first end of the first-stage worm is rotationally connected with the worm gear and worm transmission case through a bolt and a nut;
the rotating shaft is rotatably installed in the worm gear and worm transmission box through a locking nut and a locking gasket, and the locking nut and the locking gasket are located between the second-stage worm gear cover and the bearing seat.
Optionally, bearings are disposed between the first-stage worm wheel cover and the first end of the first-stage worm wheel shaft, between the first end of the first-stage worm and the worm-gear transmission case, between the second end of the first-stage worm and the steering motor, between the second-stage worm wheel cover and the bearing seat, between the second end of the second-stage worm and the worm-gear transmission case, between the rotating shaft and the second-stage worm wheel, and between the second end of the first-stage worm wheel shaft and the first end of the second-stage worm.
Optionally, sealing rings are respectively arranged between the rotating shaft and the bearing seat, between the bearing seat and the second-stage worm wheel cover, between the first-stage worm wheel cover and the first-stage worm wheel shaft, and between the rotating shaft and the second-stage worm wheel.
Optionally, spacer bushes are arranged between the rotating shaft and the second-stage worm wheel and between the bearing seat and the second-stage worm wheel cover;
the spacer bush is used for supporting the connected device.
Optionally, the transmission further comprises a steering arm; the steering motor is fixed to the first end of the steering arm by bolts and nuts and the positioning on the bolts and nuts.
Optionally, a turbine adjusting shim is further arranged between the bearing seat and the second-stage worm wheel cover; the turbine adjusting shim is used for adjusting the gap of the bearing between the bearing seat and the second-stage turbine cover.
According to a second aspect of the present invention, there is provided a steering system comprising the transmission, the lower trailing arm assembly and the drive assembly of the first aspect of the present invention;
the driving assembly is provided with a hub motor; the hub motor is arranged in the wheel;
the first end of the lower longitudinal arm assembly is connected with the second end of the steering arm of the transmission device through a lower longitudinal arm T-shaped sleeve, a bolt and a nut; the second end of the lower longitudinal arm assembly is connected with the hub motor through a steering knuckle; wherein:
when the steering motor of the transmission device works, the steering motor drives a first-stage worm, a first-stage worm wheel and a second-stage worm in the worm gear transmission box to rotate around the axis of a rotating shaft of an angle unit in the transmission device, and further drives the worm gear transmission box to rotate around the axis of the rotating shaft; the lower longitudinal arm assembly and the driving assembly rotate around the axis of the rotating shaft along with the worm gear transmission box through the steering arm so as to realize 360-degree rotation of the wheel; in the rotation process of the wheel, a rotating shaft of the angle unit is connected with the whole vehicle and keeps fixed, so that a second-stage worm wheel and an angle sensor which are fixedly connected with the rotating shaft keep fixed, and other parts of the angle unit normally rotate along with the worm wheel and worm transmission case; the angle unit collects the corner data of the angle unit through an angle unit sensor, transmits the corner data to a VCU of the whole vehicle, and controls the steering motor through the VCU so as to realize the control of the steering of the wheels.
Optionally, the axis of the rotating shaft is shifted inward and inclined compared with the central vertical line of the wheel.
Optionally, the driving assembly comprises a hub motor, a brake disc, brake calipers, a round nut and a steering knuckle;
the brake disc is fixed on the hub motor through bolts and nuts;
the steering knuckle is connected with the hub motor, the steering knuckle and the hub motor are limited through a milling flat structure, so that the steering knuckle and the hub motor do not rotate relatively, and the steering knuckle is fixed on the hub motor through the round nut;
the brake caliper is mounted on the knuckle.
Optionally, the steering system further comprises a shock absorber and a shock absorber bracket;
the first end of the shock absorber is connected with the second end of the shock absorber bracket, and the second end of the shock absorber is connected with the steering knuckle; and the first end of the vibration damper support is connected with the worm gear transmission box.
According to a third aspect of the invention, a complete vehicle is provided, which comprises the steering system provided by the second aspect and the alternative of the invention.
The transmission device provided by the invention is arranged in an inverted mode, namely the lower end of the transmission device is connected with the lower longitudinal arm assembly through the steering arm, and the upper end of the transmission device is connected with the frame through a plane which is flat and has no protrusion, so that a space does not need to be reserved above wheels for a steering driving assembly, the frame and the chassis can be arranged in a pure plane, the space for carrying people or objects in the vehicle body is enlarged and becomes regular, the utilization rate of the space at the upper part of the chassis is improved, the height and the mass center of the objects carried on the chassis are reduced, and the convenience for carrying people and objects is improved.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
FIG. 1 is a first block diagram of a transmission according to an embodiment of the present invention;
FIG. 2 is a second block diagram of a transmission according to an embodiment of the present invention;
FIG. 3 is a block diagram of a steering system provided in an embodiment of the present invention;
fig. 4 (a) is a rear view of a steering system provided in an embodiment of the present invention;
fig. 4 (b) is a left side view of a steering system provided in the embodiment of the present invention.
Description of reference numerals:
10-a steering motor;
11-a locating pin;
20-first stage worm;
30-a first stage worm gear;
40-a second stage worm;
50-first stage worm gear shaft;
60-angle unit;
601-a rotating shaft;
602-a second stage worm gear;
603-a bearing seat;
604-second stage worm gear cover;
605-a lock washer;
606-a locking nut;
607-turbine adjustment shim;
608-a sensor link;
609-a coupler;
610-an angle sensor;
70-a steering arm;
701-steering arm head;
702-a steering arm body;
703-trailing arm;
80-a bearing;
90-oil sealing;
100-spacer bush;
110-first stage worm gear cover;
120-worm gear box;
130-a drive assembly;
131-round nuts;
132-brake caliper;
133-a brake disc;
134-a hub motor;
135-knuckle;
136-a shock absorber;
137-a shock absorber support;
140-a lower trailing arm assembly;
141-lower trailing arm T-shaped sleeves;
150-O-ring.
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.
The terms "first" and "second" in the description and claims of the present invention and the above-described drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The technical means of the present invention will be described in detail with reference to specific examples. In the following several embodiments, the same or similar concepts or processes may not be described in detail in some embodiments.
Referring to fig. 1, an embodiment of the present invention provides a transmission device including a steering motor 10, a first-stage worm 20, a first-stage worm wheel 30, a first-stage worm wheel shaft 50, a second-stage worm 40, and an angle unit 60;
a first end of the steering motor 10 is rotatably connected with a second end of the first-stage worm 20;
the transmission area of the first-stage worm 20 is in embedded transmission connection with the transmission area of the first-stage worm wheel 30;
the central through hole part of the first-stage worm wheel 30 passes through the first-stage worm wheel shaft 50, and the first end of the second-stage worm 40 is connected with the second end of the first-stage worm wheel shaft 50;
the transmission area of the second-stage worm 40 is in transmission connection with the angle unit 60; wherein: the first-stage worm 20 includes a cylindrical archimedes worm, the axial tooth profile of the worm is a straight line, the axial section of the worm is an isosceles trapezoid, and the tooth profile is similar to a trapezoidal thread, of course, the first-stage worm 20 is not limited to the archimedes worm, but may also be an involute worm, a normal straight profile worm, and the like, and is not limited herein; the first-stage worm wheel 30 is equivalent to a helical cylindrical gear, and the teeth of the helical cylindrical gear are distributed on the circular ring surface, so that the gear can wrap the worm to improve the contact condition.
Referring to fig. 2, as a preferred embodiment, the angle unit 60 includes an angle sensor 610, a rotating shaft 601, a second-stage worm wheel 602, a second-stage worm wheel cover 604, a sensor link 608, and a bearing seat 603;
the angle sensor 610 is rotatably connected with a first end of the sensor connecting rod 608 through a coupling 609 and is fixedly connected with a first surface of the rotating shaft 601;
the second-stage worm wheel cover 604 is located at the lowest end of the angle unit 60, and the rotating shaft 601, the second-stage worm wheel 602, the bearing seat 603, and the second-stage worm wheel cover 604 are all provided with a central through hole, so that the sensor link 608 can pass through the through hole of the rotating shaft 601, the second-stage worm wheel 602, and the bearing seat 603 and be inserted into the second-stage worm wheel cover 604, and is fixed with the second-stage worm wheel cover 604, and the specific fixing manner is as follows: the sensor link 608 is provided with a milled flat structure, a bolt is installed on the second-stage worm wheel cover 604, and the plane of the milled flat structure is pressed by the bolt so that the sensor link 608 and the second-stage worm wheel cover 604 do not move relatively, that is, the sensor link 608 and the angle unit 60 do not rotate relatively;
the second-stage worm wheel cover 604 is fixed on the second surface of the bearing seat 603;
the second surface of the rotating shaft 601 is fixedly connected with the first surface of the second-stage worm wheel 602 through a spline, and the rotating shaft 601 and the second-stage worm wheel 602 are rotationally connected with the first surface of the bearing seat 603 as a whole; wherein: the rotating shaft 601 is fixedly connected with the second-stage worm gear 602 through an external spline, and the rotating shaft 601 is fixed on a chassis of the whole vehicle; when the transmission controls the wheel to rotate, the angle unit 60 rotates around the axis of the rotating shaft 601, while the rotating shaft 601 and the second-stage worm wheel 602 remain stationary as a whole, and the angle sensor 610 detects the rotation angle of the sensor link 608 to obtain the rotation angle of the angle unit 60.
As a specific embodiment, the angle unit 60, the first-stage worm 20, the first-stage worm wheel 30, the second-stage worm 40 and the first-stage worm wheel shaft 50 are all fixed in the worm gear box 120;
a first-stage worm gear cover 110 is connected to a first end of the first-stage worm gear shaft 50, and the first-stage worm gear cover 110 is fixed to the worm gear box 120 through bolts and nuts;
the first end of the first-stage worm 20 is rotatably connected with the worm gear box 120 through a bolt and a nut;
the rotating shaft 601 is rotatably installed in the worm gear box 120 through a locking nut 606 and a locking washer 605, and the locking nut 606 and the locking washer 605 are located between the second-stage worm gear cover 604 and the bearing seat 603.
As a preferred embodiment, bearings 80 are disposed between the first-stage worm wheel cover 110 and the first end of the first-stage worm wheel shaft 50, between the first end of the first-stage worm 20 and the worm gear box 120, between the second end of the first-stage worm 20 and the steering motor 10, between the second-stage worm wheel cover 604 and the bearing seat 603, between the second end of the second-stage worm 40 and the worm gear box 120, between the rotating shaft 601 and the second-stage worm wheel 602, and between the second end of the first-stage worm wheel shaft 50 and the first end of the second-stage worm 40; the purpose is to support each rotating body to rotate, reduce the friction coefficient in the movement process and ensure the rotation precision of the rotating body in the process that the steering motor 10 drives the first-stage worm 20 to rotate and further drives the second-stage worm 40 to rotate around the second-stage worm wheel 602 through the first-stage worm wheel 30; because each rotating body may move in any direction during operation, bearings 80 are required to ensure that each rotating body can only rotate.
As a specific embodiment, the 603 is fixedly connected with the worm gear box 120 through bolts and nuts; the bearing seat 603 is used for supporting the bearing 80 between the rotating shaft 601 and the second-stage worm wheel 602, fixing an outer ring of the bearing 80, only allowing the inner ring to rotate, keeping the outer ring still, keeping the same with the transmission direction all the time, and keeping the balance of the bearing 80.
As a preferred embodiment, O-rings 150 are disposed between the shaft 601 and the bearing seat 603, between the bearing seat 603 and the second stage worm gear cover 604, and between the first stage worm gear cover 110 and the first stage worm gear shaft 50;
an oil seal 90 is arranged between the rotating shaft 601 and the second-stage worm gear 602; the O-shaped ring 150 and the oil seal 90 are both suitable for rotary motion, axial reciprocating motion or combined motion among devices, and have self-sealing effect; wherein the oil seal 90 is typically used to seal grease, which is typically lubricating oil; the material of the O-ring 150 and the oil seal 90 is not limited herein.
As a specific embodiment, the distance sleeve 100 is disposed between the rotating shaft 601 and the second-stage worm gear 602 and between the bearing seat 603 and the second-stage worm gear cover 604; the spacer 100 is used to assist the bearing 80 to support the rotating shaft 601.
Please refer to as a preferred embodiment, the transmission device further includes a steering arm 70, the steering arm 70 is in a shape of a Chinese character 'gong' from top to bottom, and includes a steering arm head 701, a steering arm body 702, and a steering arm tail 703; the head 701 of the steering arm is a rectangular cavity, and the steering motor 10 is fixed in the rectangular cavity of the steering arm 70 through a positioning pin 11, a bolt and a nut on the side wall of the steering motor, that is, the steering arm 70 and the worm gear box 120 establish a connection relationship through the steering motor 10 and the first-stage worm 20; the steering arm body 702 is a structure in which a first outer side wall, a second outer side wall and a third outer side wall which are sequentially connected with the steering arm head 701 extend downwards, and the steering arm tail 703 is positioned at the tail end of the steering arm body 702 and is a hollow cylinder; the steering arm 70 is used for connecting the worm gear box 120 and a lower suspension structure; the suspension structure may be a single trailing arm structure or a double trailing arm structure, which is not limited herein.
In a preferred embodiment, a turbine adjusting shim 607 is further provided between the bearing seat 603 and the second-stage worm wheel cover 604; the turbine adjustment shim 607 is used to adjust the clearance of the bearing 80 between the bearing seat 603 and the second stage turbine cover 604.
Referring to fig. 3 and 4, a steering system according to an embodiment of the present invention includes the transmission device, a lower trailing arm assembly 140 and a driving assembly 130;
the driving assembly 130 is provided with a hub motor 134; the hub motor 134 is arranged in the wheel;
the first end of the lower trailing arm assembly 140 is connected with the trailing arm tail 703 of the steering arm 70 of the transmission device through a lower trailing arm T-shaped sleeve 141, a bolt and a nut; the second end of the lower trailing arm assembly 140 is connected to the in-wheel motor 134 via a knuckle 135.
In the practical application process, a driver inputs a rotation signal to a vehicle control unit VCU through an operating mechanism (such as a steering wheel); after receiving the rotation signal, the VCU can drive a rotating motor in the transmission device to work; when the steering motor 10 of the transmission device works, the steering motor 10 can drive the first-stage worm 20, the first-stage worm wheel 30 and the second-stage worm 40 in the worm gear box 120 to rotate around the axis of the rotating shaft 601 of the angle unit 60 in the transmission device, so as to drive the worm gear box 120 to rotate around the axis of the rotating shaft 601; the lower trailing arm assembly 140 and the driving assembly 130 rotate around the axis of the rotating shaft 601 along with the worm gear box 120 through the steering arm 70, so as to realize 90-degree steering of the wheel; in the rotation process of the wheel, the rotating shaft 601 is connected with the whole vehicle and keeps fixed, so that the second-stage worm wheel 602 and the angle sensor 610 which are fixedly connected with the rotating shaft 601 keep still, and other parts of the angle unit 60 normally rotate along with the worm gear box 120; the angle unit 60 collects the rotation angle data of the angle unit 60 through an angle unit 60 sensor and transmits the rotation angle data to the VCU; through analysis, if the rotation angle of the angle unit 60 does not reach a preset angle, a correction signal is input to the VCU, and the VCU controls the steering motor 10 to correct the wheel steering.
As a preferred embodiment, the axis of the rotating shaft 601 is not vertical, but is shifted and inclined inward compared to the central vertical line of the wheel, so as to obtain a certain caster angle, and offset of the caster, so that the worm gear box 120 is offset from the space required by the wheel tire jumping; such a design can reduce the height of the worm gear box 120, i.e., the height of the corner unit 60.
As a specific embodiment, the driving assembly 130 includes a hub motor 134, a brake disc 133, a brake caliper 132, a round nut 131, and a knuckle 135;
the brake disc 133 is fixed to the hub motor 134 by bolts and nuts;
the knuckle 135 is connected with the in-wheel motor 134, the knuckle 135 and the in-wheel motor 134 are limited through a milling flat structure, so that the knuckle 135 and the in-wheel motor 134 do not rotate relatively, and the knuckle 135 is fixed on the in-wheel motor 134 through the round nut 131; the brake caliper 132 is mounted on the knuckle 135.
As a specific embodiment, the steering system further includes a damper 136 and a damper bracket 137;
a first end of the damper 136 is connected to a second end of the damper bracket 137, and a second end of the damper 136 is connected to the knuckle 135; a first end of the damper bracket 137 is connected to the worm gear case 120.
From the above information, the steering function and the suspension function of the wheel are integrated near the hub motor 134, and a transmission steering mechanism is not required to be arranged between the transmission device and the lower trailing arm assembly 140, so that the space is saved; because transmission's upper end do the box of worm gear transmission case 120 with pivot 601, just the steering arm 70 is the inversion structure, and it passes through rotate the motor with first order worm 20 with worm gear transmission case 120 is connected, so there is not other connection structure between transmission and the whole car frame, and it is pure flat to enable the plane on the whole car chassis to reduce chassis upper portion cargo platform's height and barycenter position, improve whole car chassis upper portion space utilization.
The embodiment of the invention also provides a whole vehicle which comprises the steering system provided by the embodiment of the invention.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (15)
1. A transmission device is characterized by comprising a steering motor, a first-stage worm wheel, a second-stage worm, a first-stage worm wheel shaft and an angle unit;
the first end of the steering motor is rotationally connected with the second end of the first-stage worm;
the transmission area of the first-stage worm is in embedded transmission connection with the transmission area of the first-stage worm wheel;
the central through hole part of the first-stage worm wheel penetrates through the first-stage worm wheel shaft, and the first end of the second-stage worm is connected with the second end of the first-stage worm wheel shaft;
the transmission area of the second-stage worm is in transmission connection with the angle unit.
2. The transmission of claim 1, wherein the angle unit includes an angle sensor, a rotating shaft, a second stage worm gear cover, a sensor link, and a bearing housing;
the angle sensor is rotationally connected with the first end of the sensor connecting rod through a coupler and is fixedly connected with the first surface of the rotating shaft;
the second-stage worm gear cover is positioned at the lowest end of the angle unit, and the rotating shaft, the second-stage worm gear, the bearing seat and the second-stage worm gear cover are all provided with central through holes, so that the sensor connecting rod can penetrate through the rotating shaft, the second-stage worm gear and the bearing seat to be inserted into the through holes of the second-stage worm gear cover and is fixed with the second-stage worm gear cover;
the second-stage worm gear cover is fixed on the second surface of the bearing seat;
the second face of pivot with the first face of second level worm wheel passes through spline fixed connection, just the pivot with the second level worm wheel as a whole with the first face of bearing frame is rotated and is connected.
3. The transmission device according to claim 2, wherein the sensor link is provided with a milled flat structure, and the sensor link and the second-stage worm wheel cover do not rotate relatively by pressing a plane of the milled flat structure through a bolt and a nut which are arranged on the second-stage worm wheel cover.
4. The transmission of claim 3, wherein the angle unit, the first-stage worm wheel, the second-stage worm and the first-stage worm wheel shaft are all fixed in a worm wheel and worm transmission case;
the first end of the first-stage worm wheel shaft is connected with a first-stage worm wheel cover, and the first-stage worm wheel cover is fixed with the worm gear transmission case through bolts and nuts;
the first end of the first-stage worm is rotatably connected with the worm gear box through a bolt and a nut;
the rotating shaft is rotatably installed in the worm gear and worm transmission box through a locking nut and a locking gasket, and the locking nut and the locking gasket are located between the second-stage worm gear cover and the bearing seat.
5. The transmission of claim 4, wherein bearings are disposed between the first-stage worm-wheel cover and the first end of the first-stage worm-wheel shaft, between the first end of the first-stage worm and the worm-wheel and worm-gear transmission case, between the second end of the first-stage worm and the steering motor, between the second-stage worm-wheel cover and the bearing seat, between the second end of the second-stage worm and the worm-wheel and worm-gear transmission case, between the rotating shaft and the second-stage worm wheel, and between the second end of the first-stage worm-wheel shaft and the first end of the second-stage worm.
6. The transmission of claim 5, wherein the bearing seat is fixedly connected with the worm gear box through a bolt and a nut.
7. The transmission of claim 6, wherein sealing rings are disposed between the shaft and the bearing seat, between the bearing seat and the second worm gear cover, between the first worm gear cover and the first worm gear shaft, and between the shaft and the second worm gear.
8. The transmission of claim 7, wherein spacer sleeves are provided between the shaft and the second stage worm gear and between the bearing housing and the second stage worm gear cover.
9. The transmission of claim 8, further comprising a steering arm; the steering motor is fixed to the first end of the steering arm through a bolt, a nut and a positioning part on the bolt and the nut.
10. The transmission of claim 5, wherein a turbine adjustment shim is further disposed between the bearing seat and the second stage worm gear cover; the turbine adjusting shim is used for adjusting the gap of the bearing between the bearing seat and the second-stage turbine cover.
11. A steering system comprising the transmission of any one of claims 1 to 10, a lower trailing arm assembly and a drive assembly;
the driving assembly is provided with a hub motor; the hub motor is arranged in the wheel;
the first end of the lower longitudinal arm assembly is connected with the second end of the steering arm of the transmission device through a lower longitudinal arm T-shaped sleeve, a bolt and a nut; the second end of the lower longitudinal arm assembly is connected with the hub motor through a steering knuckle; wherein:
when the steering motor of the transmission device works, the steering motor drives a first-stage worm, a first-stage worm wheel and a second-stage worm in the worm gear transmission box to rotate around the axis of a rotating shaft of an angle unit in the transmission device, and further drives the worm gear transmission box to rotate around the axis of the rotating shaft; the lower longitudinal arm assembly and the driving assembly rotate around the axis of the rotating shaft along with the worm and gear transmission box through the steering arm so as to realize 360-degree rotation of the wheel; in the rotation process of the wheel, a rotating shaft of the angle unit is connected with the whole vehicle and keeps fixed, so that a second-stage worm wheel and an angle sensor which are fixedly connected with the rotating shaft keep fixed, and other parts of the angle unit normally rotate along with the worm wheel and worm transmission case; the angle unit collects the corner data of the angle unit through an angle unit sensor, transmits the corner data to a VCU of the whole vehicle, and controls the steering motor through the VCU so as to realize the control of the steering of the wheels.
12. The steering system according to claim 11, wherein an axis of the spindle is shifted inward and inclined with respect to a center vertical line of the wheel.
13. The steering system of claim 11, wherein the drive assembly comprises a hub motor, a brake disc, a brake caliper, a round nut, a knuckle;
the brake disc is fixed on the hub motor through bolts and nuts;
the steering knuckle is connected with the hub motor, the steering knuckle and the hub motor are limited through a milling flat structure, so that the steering knuckle and the hub motor do not rotate relatively, and the steering knuckle is fixed on the hub motor through the round nut;
the brake caliper is mounted on the knuckle.
14. The steering system of claim 13, further comprising a shock absorber and a shock absorber bracket;
the first end of the shock absorber is connected with the second end of the shock absorber bracket, and the second end of the shock absorber is connected with the steering knuckle; and the first end of the vibration damper support is connected with the worm gear transmission box.
15. A complete vehicle, characterized in that each wheel of the complete vehicle is provided with a steering system according to any one of claims 11 to 14.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210192867.6A CN114537513A (en) | 2022-02-28 | 2022-02-28 | Steering device for hub motor, angle unit, traveling device and electric vehicle |
| CN2022101928676 | 2022-02-28 |
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| Publication Number | Publication Date |
|---|---|
| CN115716501A true CN115716501A (en) | 2023-02-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210192867.6A Pending CN114537513A (en) | 2022-02-28 | 2022-02-28 | Steering device for hub motor, angle unit, traveling device and electric vehicle |
| CN202210713218.6A Pending CN115071813A (en) | 2022-02-28 | 2022-06-22 | Steering device for hub motor, angle unit, traveling device and electric vehicle |
| CN202210711453.XA Pending CN115071812A (en) | 2022-02-28 | 2022-06-22 | Steering arm structure, steering device, angle unit, traveling device, and electric vehicle |
| CN202211549255.4A Pending CN115716501A (en) | 2022-02-28 | 2022-12-05 | Transmission device, steering system and whole vehicle |
Family Applications Before (3)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210192867.6A Pending CN114537513A (en) | 2022-02-28 | 2022-02-28 | Steering device for hub motor, angle unit, traveling device and electric vehicle |
| CN202210713218.6A Pending CN115071813A (en) | 2022-02-28 | 2022-06-22 | Steering device for hub motor, angle unit, traveling device and electric vehicle |
| CN202210711453.XA Pending CN115071812A (en) | 2022-02-28 | 2022-06-22 | Steering arm structure, steering device, angle unit, traveling device, and electric vehicle |
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| CN (4) | CN114537513A (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114889722A (en) * | 2022-06-10 | 2022-08-12 | 中国科学院国家天文台 | Mobile system device running on spliced curved surface |
| CN115384609A (en) * | 2022-09-02 | 2022-11-25 | 葵迪智能科技(上海)有限公司 | Steering device, traveling device, and vehicle |
| CN115432059A (en) * | 2022-10-12 | 2022-12-06 | 烟台艾睿光电科技有限公司 | Wheeled robot and chassis assembly thereof |
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| DE102006032843B4 (en) * | 2006-07-14 | 2008-09-04 | Ulrich Alber Gmbh | Additional drive device for manual wheelchairs |
| DE102006060618A1 (en) * | 2006-12-21 | 2008-06-26 | Jungheinrich Ag | Drive unit with drive and steering motor for a drive wheel of a truck |
| US8256781B2 (en) * | 2009-12-20 | 2012-09-04 | William James Beaujon | Vehicle suspension, steering, damping and anti-roll system with linear wheel travel |
| CN101973307B (en) * | 2010-10-19 | 2013-01-23 | 吉林大学 | Main pin zero bias wire-controlled independent driven and steering automobile running mechanism and electric vehicle |
| US9061576B2 (en) * | 2012-02-27 | 2015-06-23 | Lit Motors Corporation | Hub motor and steering solution |
| CN203496612U (en) * | 2013-10-15 | 2014-03-26 | 华中科技大学 | Oil-gas balanced suspension used for multi-shaft heavy vehicle and hydraulic control system of oil-gas balanced suspension |
| US20190248233A1 (en) * | 2016-06-17 | 2019-08-15 | The University Of Sydney | Drive module |
| CN206125145U (en) * | 2016-09-30 | 2017-04-26 | 南京航空航天大学 | Four -wheel independent steering device mechanism |
| CN107985401A (en) * | 2017-10-27 | 2018-05-04 | 浙江吉利控股集团有限公司 | A kind of knuckle for vehicle |
| DE102018107358A1 (en) * | 2018-03-28 | 2019-10-02 | Schaeffler Technologies AG & Co. KG | Wheel module for a motor vehicle |
| DE202018006256U1 (en) * | 2018-09-13 | 2019-10-14 | Alber Gmbh | Auxiliary drive device for a wheelchair |
| CN209041354U (en) * | 2018-09-19 | 2019-06-28 | 陕西重型汽车有限公司 | Breakaway-element steering system swing arm shaft device |
| JP2020097280A (en) * | 2018-12-17 | 2020-06-25 | Ntn株式会社 | Hub unit with steering function and steering system |
| JP6887460B2 (en) * | 2019-04-10 | 2021-06-16 | 株式会社リケン | Vehicle knuckle |
| CN210416720U (en) * | 2019-08-05 | 2020-04-28 | 上海中科深江电动车辆有限公司 | Steering wheel system |
| CN110861456B (en) * | 2019-11-08 | 2023-09-08 | 吉林大学 | Lower cross arm connecting structure and steering structure for steer-by-wire vehicle and control method thereof |
| CN214084426U (en) * | 2020-12-31 | 2021-08-31 | 深圳市智创造科技有限公司 | Omnidirectional driving wheel mechanism |
-
2022
- 2022-02-28 CN CN202210192867.6A patent/CN114537513A/en active Pending
- 2022-06-22 CN CN202210713218.6A patent/CN115071813A/en active Pending
- 2022-06-22 CN CN202210711453.XA patent/CN115071812A/en active Pending
- 2022-12-05 CN CN202211549255.4A patent/CN115716501A/en active Pending
Also Published As
| Publication number | Publication date |
|---|---|
| CN115071813A (en) | 2022-09-20 |
| CN114537513A (en) | 2022-05-27 |
| CN115071812A (en) | 2022-09-20 |
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