CN117533123A - Four-wheel independent driving vehicle and control method thereof - Google Patents

Four-wheel independent driving vehicle and control method thereof Download PDF

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Publication number
CN117533123A
CN117533123A CN202311496258.0A CN202311496258A CN117533123A CN 117533123 A CN117533123 A CN 117533123A CN 202311496258 A CN202311496258 A CN 202311496258A CN 117533123 A CN117533123 A CN 117533123A
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CN
China
Prior art keywords
steering
wheel
module
assembly
driving
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202311496258.0A
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Chinese (zh)
Inventor
周煊
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Hangzhou Jizhixuan Technology Co ltd
Original Assignee
Hangzhou Jizhixuan Technology Co ltd
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Application filed by Hangzhou Jizhixuan Technology Co ltd filed Critical Hangzhou Jizhixuan Technology Co ltd
Priority to CN202311496258.0A priority Critical patent/CN117533123A/en
Publication of CN117533123A publication Critical patent/CN117533123A/en
Pending legal-status Critical Current

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Classifications

    • 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
    • B60K17/00—Arrangement or mounting of transmissions in vehicles
    • B60K17/34—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles
    • B60K17/358—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles all driven wheels being steerable
    • 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
    • B60K17/00—Arrangement or mounting of transmissions in vehicles
    • B60K17/34—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles
    • B60K17/356—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles having fluid or electric motor, for driving one or more wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed

Abstract

The invention relates to the field of automobiles and discloses a four-wheel independent drive vehicle and a control method thereof, wherein the four-wheel independent drive vehicle comprises a baseplate frame (1), wheels (3) and driving components (2) are arranged on the baseplate frame (1), each driving component (2) comprises a motor (21), a reduction gearbox (22) and a transmission half shaft (23), an output shaft of the motor (21) is connected with the reduction gearbox (22), an output end of the reduction gearbox (22) is connected with the wheels (21) through the transmission half shafts (23), the driving components (2) are at least four, and each wheel (3) is connected with one driving component (2). The invention generally presents a similar form of a sliding plate, except for a wheel system, all parts are arranged between the upper beam and the lower beam of the frame, the upper surface of the whole system is a regular plane, and firm structural support is provided, so that the invention is convenient for carrying and function realization of upper assembly.

Description

Four-wheel independent driving vehicle and control method thereof
Technical Field
The invention relates to the field of automobiles, in particular to a four-wheel independent drive vehicle and a control method thereof.
Background
The loading and transportation requirements of personnel, materials or equipment are carried out in the scenes of severe outdoor environments such as military use, police use, disaster emergency, mining industry, agriculture and forestry and the like and ground environments, and vehicles or chassis with high off-road performance and high trafficability are correspondingly required. Particularly in the case of smaller spaces available for turning or turning around, it is also desirable that the vehicle or chassis have a smaller turning radius or even need to turn around in situ.
In the prior art, because of the differential, when only one wheel of the wheels at two ends of the differential slips, power is lost from the wheel, and the wheel at the non-slip side cannot obtain power. To solve this problem, there are two common methods in the industry: one is to limit or lock the differential function of the differential, either by purely mechanical or by electro-mechanical solutions, but this results in a complex structure of the differential and an increase in cost; the other is to apply individual braking to the slipping wheel by a braking system so that the non-slipping wheel is powered, but this requires a higher specification braking system to be provided, which is often very expensive. In addition, in the four-wheel drive electric vehicle in the prior art, independent control of power output of each wheel cannot be realized, and therefore, functions such as differential steering of left and right wheels and differential turning of left and right wheels cannot be realized.
Disclosure of Invention
The invention provides a four-wheel independent drive vehicle aiming at the defects in the prior art.
In order to solve the technical problems, the invention is solved by the following technical scheme:
the utility model provides a four-wheel independent drive's vehicle, includes the underfloor frame, installs wheel and drive assembly on the underfloor frame, and drive assembly includes motor, reducing gear box and transmission semi-axis, and the output and the reducing gear box of motor are connected, and the output of reducing gear box is connected with the wheel through the transmission semi-axis, and drive assembly has four at least, and every wheel is connected with a drive assembly.
Preferably, a plurality of first mounting holes are formed in the mounting end face of the motor fixedly mounted with the reduction gearbox, the first mounting holes are circumferentially arranged relative to the axis of the motor, and the four motors of the whole vehicle can adopt identical motors due to the circumferential arrangement of the first mounting holes; be equipped with a plurality of second mounting holes on the reducing gear box, the output of reducing gear box and the plane definition that the input is located are the centre level, and the second mounting hole sets up about the centre level symmetry, and the symmetry setting of second mounting hole makes four speed reducers of whole car all adopt an identical reducing gear box.
Preferably, the driving support is fixedly connected to the floor frame, a group of driving assemblies are arranged on the left side and the right side of the driving support, and the driving assemblies located on the left side and the right side of the driving support are symmetrically arranged and are respectively connected with wheels on the left side and the right side of the vehicle body.
Preferably, the driving brackets are two and respectively positioned at the front end and the rear end of the bottom plate frame. The two driving components at the front end of the vehicle body are connected back to back through the driving bracket, and the driving components at the rear end of the vehicle body are connected back to back through the driving bracket and finally fixed with the floor frame.
Preferably, the wheel comprises a wheel hub, a carcass arranged on the wheel hub, a transmission flange arranged on the wheel hub, and a brake caliper, a brake disc and a knuckle which are connected with the transmission half shaft through splines or other keys so as to transmit the power of the transmission half shaft to the wheel.
Preferably, the suspension assembly comprises an upper swing arm, a suspension spring and a swing arm, wherein one end of the swing arm is mounted on the frame through a mounting piece and rotates around the mounting piece, and the other end of the swing arm extends outwards to form a first mounting position and a second mounting position; one end of the upper swing arm is movably connected to the wheel, and the other end of the upper swing arm is movably connected to the first mounting position; one end of the suspension spring is movably connected to the frame, and the other end of the suspension spring is movably connected to the second mounting position; the installation piece is respectively connected with the first installation position and the second installation position, and the included angle of two connecting lines formed by the installation piece is 10-170 degrees; the rocker arm is of a triangular plate structure, and the mounting piece, the first mounting position and the second mounting position are respectively positioned on three corners of the triangular plate structure of the rocker arm; the mounting piece is one of a bearing, a mounting shaft and a hinge; the included angle between the axis of the suspension spring and the horizontal plane is 0-80 degrees; the suspension spring is connected with the rocker arm through a bushing or a ball head; the upper swing arm is connected with the rocker arm through the push rod; the push rod comprises a rod body and two connecting pieces arranged at the end part of the rod body, the connecting pieces are ball-head connecting pieces, and the two ends of the rod body are respectively connected with the connecting pieces through positive and negative threads; the lower swing arm is movably arranged on the wheel; the wheels are provided with steering knuckles, and the upper swing arm and the lower swing arm are connected with the steering knuckles through ball heads; the upper swing arm and the lower swing arm are connected with the frame through bushings.
Preferably, the steering system further comprises a steering assembly, wherein the steering assembly comprises a steering machine, an output rack and a steering pull rod, the output rack is arranged on the steering machine, and the left end and the right end of the output rack are respectively connected with the steering pull rod; the steering engine comprises a steering motor, a steering electric control structure and a steering speed reducing structure, the steering assembly is preferably arranged in a front-back symmetrical mode, multiple steering functions can be achieved through the cooperation of the front-back steering assembly, and a set of steering system can be configured on front wheels or rear wheels.
Preferably, the brake assembly comprises four groups of brake assemblies, wherein the brake assemblies are respectively arranged on four wheels, each brake assembly comprises an electric control hydraulic brake, a brake pipe, a brake caliper and a brake disc, the electric control hydraulic brake is fixed on a bottom plate frame, the brake calipers are respectively fixed on four hubs, and the brake discs are respectively fixed on four in-wheel motors and rotate along with the rotation of motor rotors. The braking system receives an electric control instruction, controls the motor to act, pushes the master cylinder piston to transmit braking pressure to the slave cylinder pistons on the four brake calipers through hydraulic oil, and pushes the brake pads to compress the brake disc, so that braking force is obtained.
Preferably, the bottom plate frame is of a frame body structure, and the bottom plate frame is an alloy type welding frame; a battery component is arranged in the middle frame body of the bottom plate frame; an electric control assembly is arranged in the middle frame body of the floor frame, the electric control assembly comprises a control module, a power module, a driving module, a steering module and a braking module, the control module sends control instructions to the power module, the driving module, the steering module and the braking module, the power module is connected with the power assembly, the driving module is connected with the driving assembly, the steering module is connected with the steering assembly, and the braking module is connected with the braking assembly; the control module comprises a manned driving sub-module, a remote control driving sub-module and an automatic driving sub-module, wherein the control priority of the manned driving sub-module is greater than that of the remote control driving sub-module, and the control priority of the remote control driving sub-module is greater than that of the automatic driving sub-module.
A control method of a four-wheel independent drive vehicle including one of the above, the control method comprising:
1) The straight running state control method comprises the following steps:
the four wheels are not turned and are positioned at the reference position, the four motors rotate in the same direction, and the vehicle body moves forwards or backwards in a straight way under the state
2) The front wheel steering state control method comprises the following steps:
the steering assembly at the front end of the vehicle body controls the two front wheels to steer towards the same direction, the two rear wheels are positioned at the reference position and do not steer, and the four motors rotate in the same direction, so that the state is similar to the steering mode of a conventional vehicle, and the vehicle in the state generally advances or backs up along the arc pointed by the wheels according to the Ackerman geometric principle;
3) The rear wheel steering state control method comprises the following steps:
the steering assembly at the rear end of the vehicle body controls the two rear wheels to steer towards the same direction, the two front wheels are positioned at the reference position and do not steer, and the four motors rotate in the same direction, so that the state is similar to a steering mode of a forklift, and the vehicle in the state generally advances or backs along the arc pointed by the wheels according to the Ackerman geometric principle;
4) The control method of the front-back reverse steering state comprises the following steps:
the steering assembly at the front end of the vehicle body controls the two front wheels to steer in the same direction, the steering assembly at the rear end of the vehicle body controls the two rear wheels to steer in the other direction, and the four motors rotate in the same direction, so that the vehicle in the state is driven to advance or reverse along the circle center of the concentric circle corresponding to the tangent line of the central plane of the wheels, and the front wheels and the rear wheels in the state have the rotation angles, which is equivalent to twice the rotation angle, so that the turning radius can be effectively shortened, and the form flexibility of the vehicle is improved;
5) The control method of the front-back same-direction steering state comprises the following steps:
the steering assembly at the front end of the vehicle body controls two front wheels, the steering assembly at the rear end of the vehicle body controls two rear wheels to steer towards the same direction, the four motors rotate in the same direction, the vehicle body presents a state of oblique translation, and the state can facilitate adjustment of the transverse position and adjustment of a line of the vehicle;
6) The differential steering state control method comprises the following steps:
the steering mechanism at the front end and/or the rear end of the vehicle body controls the steering of wheels, the output rotating speed of the driving component positioned at the outer side of the steering is higher than that of the driving component positioned at the inner side of the steering, the mode is generally based on the use of the vehicle in running and can be overlapped with the Ackerman steering of the steering machine, and the auxiliary steering or steering correction effect is realized;
7) The in-situ rotation state control method comprises the following steps:
the four wheels are not turned and are positioned at the reference positions, the driving assembly positioned at the left side of the vehicle body controls the two left wheels to rotate in one direction, the driving assembly positioned at the right side of the vehicle body controls the two right wheels to rotate in the other direction, the vehicle body is in a static state or an extremely low-speed state, and the steering mode similar to that of a tracked vehicle can be realized through the reverse rotation of the left and right wheels, so that the effect of in-situ steering and rotation is achieved.
The invention has the remarkable technical effects due to the adoption of the technical scheme: the invention generally presents a similar form of a sliding plate, except for a wheel system, all parts are arranged between the upper beam and the lower beam of the frame, the upper surface of the whole system is a regular plane, and firm structural support is provided, so that the invention is convenient for carrying and function realization of upper assembly.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a schematic structural view of the driving assembly of fig. 1.
Fig. 3 is a schematic structural view of the motor of fig. 2.
Fig. 4 is a schematic structural view of the reduction gearbox of fig. 2.
Fig. 5 is a schematic structural view of the wheel of fig. 1.
Fig. 6 is a schematic structural view of the suspension assembly of fig. 1.
Fig. 7 is a schematic structural view of the rocker arm of fig. 6.
Fig. 8 is a schematic structural view of the push rod of fig. 6.
Fig. 9 is a schematic structural view of the steering assembly.
Fig. 10 is a functional block diagram of the invention.
Fig. 11 is a straight state diagram.
Fig. 12 is a front wheel steering state diagram.
Fig. 13 is a rear-wheel steering state diagram.
Fig. 14 is a front-rear reverse steering state diagram.
Fig. 15 is a front-rear same-direction steering state diagram.
Fig. 16 is a differential steering state diagram.
Fig. 17 is a pivot state diagram.
The names of the parts indicated by the numerical references in the drawings are as follows: 1-floor frame, 2-drive assembly, 3-wheel, 4-suspension assembly, 5-steering assembly, 6-battery assembly, 7-electric control assembly, 11-drive bracket, 21-motor, 211-first mounting hole, 22-reduction gearbox, 221-second mounting hole, 23-drive half axle, 31-hub, 32-carcass, 33-drive flange, 41-upper swing arm, 42-swing arm, 420-mounting piece, 421-first mounting position, 422-second mounting position, 43-suspension spring, 44-push rod, 441-rod body, 442-connecting piece, 45-lower swing arm, 51-steering machine, 52-output rack, 53-steering tie rod.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
Example 1
The utility model provides a four-wheel independent drive's vehicle, as shown in the drawing, includes floor frame 1, installs wheel 3 and drive assembly 2 on the floor frame 1, and drive assembly 2 includes motor 21, reducing gear box 22 and transmission semi-axis 23, and motor 21's output and reducing gear box 22 are connected, and the output of reducing gear box 22 passes through transmission semi-axis 23 to be connected with wheel 21, and drive assembly 2 has four at least, and every wheel 3 is connected with a drive assembly 2.
The mounting end surfaces of the motors 21 and the reduction boxes 22 are fixedly provided with a plurality of first mounting holes 211, the first mounting holes 211 are circumferentially arranged about the axis of the motors 21, and the four motors 21 of the whole vehicle can adopt identical motors due to the circumferential arrangement of the first mounting holes 221; the reduction gearbox 22 is provided with a plurality of second mounting holes 221, the plane where the output end and the input end of the reduction gearbox 22 are located is defined as a central plane, the second mounting holes 221 are symmetrically arranged about the central plane, and the four reduction gearboxes 22 of the whole vehicle are all identical through the symmetrical arrangement of the second mounting holes 221.
The bottom plate frame 1 is of a frame structure, and the bottom plate frame 1 is an alloy type welding frame; a battery assembly 6 is arranged in the middle frame body of the baseplate frame 1.
Example 2
The same as embodiment 1, except that the driving bracket 11 is fixedly connected to the floor frame 1, a group of driving assemblies 2 are mounted on the left and right sides of the driving bracket 11, and the driving assemblies 2 located on the left and right sides of the driving bracket 11 are symmetrically arranged and respectively connected with the wheels 3 on the left and right sides of the vehicle body.
The driving brackets 11 are two and are respectively positioned at the front end and the rear end of the floor frame 1. The two driving components 2 at the front end of the vehicle body are connected back to back through the driving bracket 11, and the driving components 2 at the rear end of the vehicle body are connected back to back through the driving bracket 1 and finally fixed with the floor frame 1.
Example 3
As in embodiment 1, except that the wheel 3 includes a hub 31 and a carcass 32 mounted on the hub 31, a drive flange 33 is mounted on the hub 31, the drive flange 33 is connected to the drive half shaft 23 by a spline or other form of key to transmit the power of the drive half shaft 23 to the wheel 3, and a brake caliper, a brake disc and a knuckle are also mounted on the hub 31.
Example 4
As in embodiment 1, except that a suspension assembly 4 for a four-wheel independent drive vehicle is further included, as shown, comprising an upper swing arm 41 and a suspension spring 43, and further comprising a swing arm 42, one end of the swing arm 42 being mounted on the vehicle frame by a mounting member 420 and being rotated about the mounting member 420, the other end of the swing arm 42 extending outwardly and forming a first mounting location 421 and a second mounting location 422; one end of the upper swing arm 41 is movably connected to the wheel 3, and the other end of the upper swing arm 41 is movably connected to the first mounting position 421; one end of the suspension spring 43 is movably connected to the frame, and the other end of the suspension spring 43 is movably connected to the second mounting position 422. With the above structure, the vertical swing of the upper swing arm 41 is transmitted to the obliquely arranged swing arm 42 through the push rod, and then the movement direction is changed through the swing arm 42, and finally the movement is transmitted to the horizontally arranged suspension spring 43.
The mounting member 420 is connected with the first mounting position 421 and the second mounting position 422 respectively, and forms an included angle of 90 degrees between two connecting lines.
The rocker arm 42 is a triangular plate structure, and the mounting member 420, the first mounting position 421 and the second mounting position 422 are respectively located at three corners of the triangular plate structure of the rocker arm 42.
The mounting member 420 is one of a bearing, a mounting shaft and a hinge, and the rocker arm 42 is connected with the frame through the bearing and performs rotary pair movement.
The included angle between the axis of the suspension spring 43 and the horizontal plane is 0 degrees, and the suspension spring 43 and the rocker arm 42 are connected through a bushing or a ball head and do spherical pair movement.
The device also comprises a push rod 44, wherein the upper swing arm 41 and the rocker arm 42 are connected through the push rod 44, and two ends of the push rod 44 are respectively connected to the upper swing arm 41 and the rocker arm 42 through ball heads and do spherical pair movement.
The push rod 44 includes a rod body 441 and two connecting members 442 mounted at the end of the rod body 441, the connecting members 442 are ball-head connecting members, two ends of the rod body 441 are respectively connected with the connecting members 442 through positive and negative threads, when the push rod 44 is mounted, the distance between the connecting members 442 at two ends is lengthened or shortened relative to the rod body 441 due to the positive and negative threads through the rotating structure of the rod body 441, so that the height of the suspension is adjusted.
The vehicle further comprises a lower swing arm 45, and the lower swing arm 45 is movably arranged on the vehicle wheel 3.
The wheel 3 is provided with a steering knuckle, and the upper swing arm 41 and the lower swing arm 45 are both connected with the steering knuckle in a ball joint mode and do spherical pair movement.
The upper swing arm 41 and the lower swing arm 45 are connected with the frame through bushings and do rotary pair movement.
Example 5
As in embodiment 1, except that the steering assembly 5 is further comprised, the steering assembly 5 comprises a steering gear 51, an output rack 52 and a steering tie rod 53, the output rack 52 is mounted on the steering gear 51, and both left and right ends of the output rack 52 are respectively connected with the steering tie rod 53; the steering machine 51 comprises a steering motor, a steering electric control structure and a steering speed reducing structure, the steering assembly 5 which is arranged symmetrically in front and back is preferably adopted, and through the cooperation of the front and back steering assemblies 5, various steering functions can be realized, and a set of steering system can be configured only on front wheels or rear wheels.
The brake assembly comprises four groups of brake assemblies, the brake assemblies are respectively arranged on four wheels 3, each brake assembly comprises an electric control hydraulic brake, a brake pipe, a brake caliper and a brake disc, the electric control hydraulic brake is fixed on the baseplate frame 1, the brake calipers are respectively fixed on four hubs 31, and the brake discs are respectively fixed on four in-wheel motors to rotate along with the rotation of the motor rotor. The braking system receives an electric control instruction, controls the motor to act, pushes the master cylinder piston to transmit braking pressure to the slave cylinder pistons on the four brake calipers through hydraulic oil, and pushes the brake pads to compress the brake disc, so that braking force is obtained.
Example 6
The embodiment 1 is the same, except that an electric control assembly 7 is mounted on the middle frame body of the floor frame 1, the electric control assembly 7 comprises a control module, a power module, a driving module, a steering module and a braking module, the control module sends control instructions to the power module, the driving module, the steering module and the braking module, the power module is connected with the power assembly 6, the driving module is connected with the driving assembly 2, the steering module is connected with the steering assembly 5, and the braking module is connected with the braking assembly; the control module comprises a manned driving sub-module, a remote control driving sub-module and an automatic driving sub-module, wherein the control priority of the manned driving sub-module 1 is greater than that of the remote control driving sub-module 2, the control priority of the remote control driving sub-module 2 is greater than that of the automatic driving sub-module 3, and the control priority electric control assembly 7 of the remote control driving sub-module 2 is different from that of the steering assembly 5 and the driving assembly 2, so that various driving and steering modes can be realized.
Example 7
A control method of a four-wheel independent drive vehicle including one of the above, the control method comprising:
1) The straight running state control method comprises the following steps:
as shown in fig. 11, the four wheels 3 are not turned and are located at the reference position, and the four motors 21 are rotated in the same direction, and the vehicle body is moved in a straight forward or reverse direction in this state
2) The front wheel steering state control method comprises the following steps:
as shown in fig. 12, the steering assembly 5 at the front end of the vehicle body controls the two front wheels 3 to steer in the same direction, the two rear wheels 3 are at the reference position and do not steer, and the four motors 21 rotate in the same direction, which is similar to the steering mode of a conventional vehicle, and in this state, the vehicle moves forward or backward along the arc pointed by the wheels according to the ackerman geometric principle;
3) The rear wheel steering state control method comprises the following steps:
as shown in fig. 13, the steering assembly 5 at the rear end of the vehicle body controls the two rear wheels 3 to steer in the same direction, the two front wheels 3 are not steered at the reference position, and the four motors 21 rotate in the same direction, and the state is similar to the steering mode of a forklift truck, and the vehicle in the state is advanced or reversed along the arc pointed by the wheels approximately according to the ackerman geometric principle;
4) The control method of the front-back reverse steering state comprises the following steps:
as shown in fig. 14, the steering assembly 5 at the front end of the vehicle body controls the two front wheels 3 to steer in the same direction, the steering assembly 5 at the rear end of the vehicle body controls the two rear wheels 3 to steer in the other direction, and the four motors 21 rotate in the same direction, so that the vehicle in the state advances or backs up approximately along the center of a concentric circle corresponding to the tangent line of the central plane of the wheel, and because the front and rear wheels have the rotation angles, the rotation angles are doubled and amplified, the turning radius can be effectively shortened, and the form flexibility of the vehicle is improved;
5) The control method of the front-back same-direction steering state comprises the following steps:
as shown in fig. 15, the steering assembly 5 at the front end of the vehicle body controls two front wheels 3, the steering assembly 5 at the rear end of the vehicle body controls two rear wheels 3 to steer in the same direction, the four motors 21 rotate in the same direction, and the vehicle body presents a state of oblique translation, which can facilitate the adjustment of the transverse position and the adjustment of the line of the vehicle;
6) The differential steering state control method comprises the following steps:
as shown in fig. 16, the steering mechanism 5 at the front end and/or the rear end of the vehicle body controls the wheels 3 to steer, the output rotation speed of the driving component 2 at the outer side of steering is higher than that of the driving component 2 at the inner side of steering, and the mode is generally based on the use of the vehicle in running and can be overlapped with the ackerman steering of the steering machine to realize the effect of auxiliary steering or steering correction;
7) The in-situ rotation state control method comprises the following steps:
as shown in fig. 17, the four wheels 3 are not turned and are located at the reference position, the driving assembly 2 located at the left side of the vehicle body controls the two wheels 3 located at the left side of the vehicle body to rotate in one direction, the driving assembly 2 located at the right side of the vehicle body controls the two wheels 3 located at the right side of the vehicle body to rotate in the other direction, the vehicle body is in a static state or an extremely low speed state, and the steering mode similar to that of a tracked vehicle can be realized through the reverse rotation of the left and right wheels, so that the effect of in-situ steering rotation is achieved.
In summary, the foregoing description is only of the preferred embodiments of the present invention, and all equivalent changes and modifications made in accordance with the claims should be construed to fall within the scope of the invention.

Claims (10)

1. Four-wheel independent drive vehicle, including floor frame (1), its characterized in that: install wheel (3) and drive assembly (2) on bottom plate frame (1), drive assembly (2) include motor (21), reducing gear box (22) and transmission semi-axis (23), and the output shaft and the reducing gear box (22) of motor (21) are connected, and the output of reducing gear box (22) is connected with wheel (21) through transmission semi-axis (23), and drive assembly (2) have four at least, and every wheel (3) are connected with drive assembly (2).
2. A four-wheel independently driven vehicle according to claim 1, wherein: a plurality of first mounting holes (211) are formed in the mounting end face where the motor (21) and the reduction gearbox (22) are fixedly mounted, and the first mounting holes (211) are circumferentially arranged about the axis of the motor (21); a plurality of second mounting holes (221) are formed in the reduction gearbox (22), a plane where the output end and the input end of the reduction gearbox (22) are located is defined as a central plane, and the second mounting holes (221) are symmetrically arranged about the central plane.
3. A four-wheel independently driven vehicle according to claim 1, wherein: the driving support (11) is fixedly connected to the floor frame (1), a group of driving assemblies (2) are respectively arranged on the left side and the right side of the driving support (11), and the driving assemblies (2) positioned on the left side and the right side of the driving support (11) are symmetrically arranged and are respectively connected with the wheels (3) on the left side and the right side of the vehicle body.
4. A four-wheel independently driven vehicle according to claim 3, wherein: the driving brackets (11) are two and are respectively positioned at the front end and the rear end of the bottom plate frame (1).
5. A four-wheel independently driven vehicle according to claim 1, wherein: the wheel (3) comprises a wheel hub (31), a carcass (32) arranged on the wheel hub (31), and a transmission flange (33) arranged on the wheel hub (31), wherein the transmission flange (33) is connected with the transmission half shaft (23).
6. A four-wheel independently driven vehicle according to claim 1, wherein: the suspension assembly (4) comprises an upper swing arm (41) and a suspension spring (43), and further comprises a swing arm (42), wherein one end of the swing arm (42) is mounted on the frame through a mounting piece (420) and rotates around the mounting piece (420), and the other end of the swing arm (42) extends outwards to form a first mounting position (421) and a second mounting position (422); one end of the upper swing arm (41) is movably connected to the wheel (3), and the other end of the upper swing arm (41) is movably connected to the first mounting position (421); one end of the suspension spring (43) is movably connected to the frame, and the other end of the suspension spring (43) is movably connected to the second mounting position (422); the installation piece (420) is respectively connected with the first installation position (421) and the second installation position (422) and forms an included angle of 10-170 degrees between two connecting lines; the rocker arm (42) is of a triangle structure, and the mounting piece (420), the first mounting position (421) and the second mounting position (422) are respectively positioned at three corners of the triangle structure of the rocker arm (42); the mounting piece (420) is one of a bearing, a mounting shaft and a hinge; the included angle between the axis of the suspension spring (43) and the horizontal plane is 0-80 degrees; the suspension spring (43) is connected with the rocker arm (42) through a bushing or a ball head; the device also comprises a push rod (44), and the upper swing arm (41) and the rocker arm (42) are connected through the push rod (44); the push rod (44) comprises a rod body (441) and two connecting pieces (442) arranged at the end part of the rod body (441), the connecting pieces (442) are ball-head connecting pieces, and two ends of the rod body (441) are respectively connected with the connecting pieces (442) through positive and negative threads; the device also comprises a lower swing arm (45), and the lower swing arm (45) is movably arranged on the wheel (3); the wheel (3) is provided with a steering knuckle, and the upper swing arm (41) and the lower swing arm (45) are connected with the steering knuckle through ball heads; the upper swing arm (41) and the lower swing arm (45) are connected with the frame through bushings.
7. A four-wheel independently driven vehicle according to claim 1, wherein: the steering system further comprises a steering assembly (5), wherein the steering assembly (5) comprises a steering machine (51), an output rack (52) and a steering pull rod (53), the output rack (52) is arranged on the steering machine (51), and the left end and the right end of the output rack (52) are respectively connected with the steering pull rod (53); the steering machine (51) comprises a steering motor, a steering electric control structure and a steering speed reducing structure.
8. A four-wheel independently driven vehicle according to claim 1, wherein: the brake assembly comprises four groups of brake assemblies and is respectively arranged on four wheels (3), and the brake assemblies comprise an electric control hydraulic brake, a brake pipe, a brake caliper and a brake disc.
9. A four-wheel independently driven vehicle according to claim 1, wherein: the bottom plate frame (1) is of a frame structure, and the bottom plate frame (1) is an alloy type welding frame; the battery component (6) is arranged on the baseplate frame (1); an electric control assembly (7) is arranged on the floor frame (1), the electric control assembly (7) comprises a control module, a power module, a driving module, a steering module and a braking module, the control module sends control instructions to the power module, the driving module, the steering module and the braking module, the power module is connected with the power assembly (6), the driving module is connected with the driving assembly (2), the steering module is connected with the steering assembly (5), and the braking module is connected with the braking assembly; the control module comprises a manned driving sub-module, a remote control driving sub-module and an automatic driving sub-module, wherein the control priority of the manned driving sub-module (1) is greater than that of the remote control driving sub-module (2), and the control priority of the remote control driving sub-module (2) is greater than that of the automatic driving sub-module (3).
10. A control method of a four-wheel independent drive vehicle, characterized by: a vehicle comprising the four-wheel independent drive of any one of claims 1-9, the control method comprising:
1) The straight running state control method comprises the following steps:
the four wheels (3) are not turned and are positioned at the reference position, and the four motors (21) rotate in the same direction, and the vehicle body moves forwards or backwards in the state
2) The front wheel steering state control method comprises the following steps:
the steering assembly (5) at the front end of the vehicle body controls the two front wheels (3) to steer towards the same direction, the two rear wheels (3) are positioned at the reference position and do not steer, and the four motors (21) rotate in the same direction;
3) The rear wheel steering state control method comprises the following steps:
the steering assembly (5) at the rear end of the vehicle body controls the two rear wheels (3) to steer towards the same direction, the two front wheels (3) are positioned at the reference position and do not steer, and the four motors (21) rotate in the same direction;
4) The control method of the front-back reverse steering state comprises the following steps:
the steering assembly (5) at the front end of the vehicle body controls the two front wheels (3) to steer in the same direction, the steering assembly (5) at the rear end of the vehicle body controls the two rear wheels (3) to steer in the other direction, and the four motors (21) rotate in the same direction;
5) The control method of the front-back same-direction steering state comprises the following steps:
the steering assembly (5) at the front end of the vehicle body controls the two front wheels (3) and the steering assembly (5) at the rear end of the vehicle body controls the two rear wheels (3) to steer towards the same direction, the four motors (21) rotate in the same direction, and the vehicle body presents an oblique translation state;
6) The differential steering state control method comprises the following steps:
the steering mechanism (5) at the front end and/or the rear end of the vehicle body controls the steering of the wheels (3), and the output rotating speed of the driving component (2) positioned at the outer side of the steering is higher than that of the driving component (2) positioned at the inner side of the steering;
7) The in-situ rotation state control method comprises the following steps:
the four wheels (3) are not turned and are positioned at the reference position, the driving assembly (2) positioned at the left side of the vehicle body controls the two wheels (3) at the left side to rotate in one direction, and the driving assembly (2) positioned at the right side of the vehicle body controls the two wheels (3) at the right side to rotate in the other direction.
CN202311496258.0A 2023-11-10 2023-11-10 Four-wheel independent driving vehicle and control method thereof Pending CN117533123A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202311496258.0A CN117533123A (en) 2023-11-10 2023-11-10 Four-wheel independent driving vehicle and control method thereof

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202311496258.0A CN117533123A (en) 2023-11-10 2023-11-10 Four-wheel independent driving vehicle and control method thereof

Publications (1)

Publication Number Publication Date
CN117533123A true CN117533123A (en) 2024-02-09

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN202311496258.0A Pending CN117533123A (en) 2023-11-10 2023-11-10 Four-wheel independent driving vehicle and control method thereof

Country Status (1)

Country Link
CN (1) CN117533123A (en)

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