CN201907555U - Control-by-wire wheel independent steering actuating mechanism and wheel assembly - Google Patents

Control-by-wire wheel independent steering actuating mechanism and wheel assembly Download PDF

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Publication number
CN201907555U
CN201907555U CN2011200016092U CN201120001609U CN201907555U CN 201907555 U CN201907555 U CN 201907555U CN 2011200016092 U CN2011200016092 U CN 2011200016092U CN 201120001609 U CN201120001609 U CN 201120001609U CN 201907555 U CN201907555 U CN 201907555U
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China
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wheel
stub
worm
steering
deflector
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Expired - Lifetime
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CN2011200016092U
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Chinese (zh)
Inventor
宗长富
王祥
杨盛楠
郑宏宇
陈国迎
宋攀
邢海涛
张泽星
吴仁军
张太武
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Jilin University
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Jilin University
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Abstract

The utility model discloses a control-by-wire wheel independent steering actuating mechanism and a wheel assembly. The control-by-wire wheel independent steering actuating mechanism comprises a steering gear, a lower king pin, a king pin thrust bearings, two king pin sliding bearing in the same structure, an upper king pin, a steering motor and photoelectric encoder combination unit and a torque sensor. An output shaft of the steering motor is connected with an input shaft of the steering gear through a coupler, an output shaft of the steering gear is in key connection with one end of the torque sensor through the upper king pin, the other end of the torque sensor is in key connection with the lower king pin, the king pin sliding bearings are sleeved to the lower end of the upper main pin in a movable fit manner, and the king pin sliding bearings in the same structure are sequentially sleeved on the lower main pin from top to bottom and are in movable fit with the main pin thrust bearing. The wheel assembly comprises a hub, a rim, an annular hub motor, a brake, an annular brake disc and the control-by-wire wheel independent steering actuating mechanism. The annular hub motor consists of an annular hub motor outer rotor, large-diameter taper roller bearings, steering knuckles and a motor inner stator component.

Description

Line traffic control wheel independent steering actuating unit and wheel set
Technical field
The utility model relates to a kind of actuating unit that turns to that is applied on the automotive wheel, more particularly, it relates to a kind of wheel set of realizing the line traffic control wheel independent steering actuating unit of each wheel independent rotation and adopting this line traffic control wheel independent steering actuating unit.
Background technology
Conventional steering system (mechanical type, hydraulic booster or electric boosting steering system) can guarantee that automobile turns to according to the will of chaufeur and travel, but because its steering gear ratio is fixed, the steering response characteristic of automobile changes with the speed of a motor vehicle and steering wheel angle.Therefore chaufeur just must carry out certain operation at the variation of Vehicular turn response characteristic and compensates, and the road-holding property that this has influenced automobile has to a great extent increased the burden of chaufeur.In addition, in the conventional steering system motion of left and right sides wheel be in the same way and steering angle certain, be difficult to satisfy the requirement of modern automobile high maneuverability.Be accompanied by the develop rapidly of automotive technology and Eltec, the notion of steering-by-wire is arisen at the historic moment.Automobile steer-by-wire system has been cancelled the mechanical connection between bearing circle and the steered wheel, the various restrictions of conventional steering system have been completely free of, it can free design vehicle steering swivel system force transfering characteristic and angle transmission characteristic, bring very big development space for the design of motor turning characteristic.
At present, automaker that some are well-known and researcher have carried out deep research to wire-controlled steering system and have been applied in the concept car, as " Hy-wire " concept car of " R129 " concept car of " Lexus HPX " concept car of " Z22 " concept car of Bayerische Motorne Werke Aktiengeellschaft exploitation, Toyota Company's exploitation, Daimler-Kreisler Corp's exploitation, General Corporation's exploitation and " Sequel " concept car etc.
For traditional front-wheel steering system, when motor turning, drive deflector, steering gear by the chaufeur steering wheel rotation, front-wheel is rotated to the stub rotating certain angle.In this process, because rotating, front-wheel makes motor turning, so front-wheel is a wheel flutter to the stub rotation.This traditional steering mode is known as front-wheel steering.Vehicle front turns to trailing wheel not turn to, and makes that front and rear wheel path of motion is inharmonious, and steering response is slow when causing the automobile low speed driving, and radius of turn is big, turns to dumb; Directional balance was poor when high speed steering travelled, wear on tyres is serious.Along with the driving performance of automobile and the requirement of comfort property are improved, four-wheel steering has become the developing direction of four-wheel automobile technology.The four-wheel steering of automobile is meant that trailing wheel is also similar with front-wheel, has certain function that turns to, and not only can turn to front-wheel is equidirectional, also can turn to the front-wheel reversing sense.Four-wheel steering can strengthen automobile and run at high speed or road-holding property during the turning to manoevreability, driving safety and improve low speed of road-holding property under the Cross Wind Force effect, automobile.
There has been the part high-grade car to adopt four-wheel steering system at present, has been, produces cars such as elegant 350GT, Mazda 929 types daily as BMW new 7.
But also the steering-by-wire actuating unit is not integrated in the function that inside wheel is realized left and right sides wheel flutter or four wheel independent rotation at present, so that vehicle is finished some as special driving cycles such as four-wheel steering, pivot studs.
Summary of the invention
Technical problem to be solved in the utility model is to have overcome the problem that prior art exists, and a kind of line traffic control wheel independent steering actuating unit is provided and has adopted the wheel set of this line traffic control wheel independent steering actuating unit.
For solving the problems of the technologies described above, the utility model is to adopt following technical scheme to realize: described line traffic control wheel independent steering actuating unit comprise deflector, down stub, kingpin thrust bearing, stub plain bearing that 2 structures are identical, go up stub, steer motor and photoelectric encoder assembled unit and torque sensors.
The output shaft of the steer motor in steer motor and the photoelectric encoder assembled unit adopts coupler to be connected with the deflector input shaft.The output shaft of deflector is that key is connected by a last stub and an end of torque sensor, and the other end of torque sensor is that key is connected with following stub then.It is running-fit that the lower end of last stub is set with the identical stub plain bearing of structure.Following stub is set with the identical stub plain bearing of structure from top to bottom successively and kingpin thrust bearing is a running-fit.
Deflector described in the technical scheme comprises worm-wheel shaft, worm and gear Simmer ring, 2 worm and gear bearing, worm gear, deflector lower house, deflector upper shell, worm screw and end caps that structure is identical.Worm-wheel shaft on deflector lower house and deflector upper shell, and passes the centre hole of the end cap that the worm and gear Simmer ring is installed by the identical worm and gear bearing installation of 2 structures.Worm gear connects by the worm-wheel shaft between the key worm and gear bearing identical with 2 structures.Worm screw is connected with a joggle on deflector lower house and deflector upper shell and with worm gear by 2 identical bearing installations of structure.Adopt bolted connection between deflector upper shell and the deflector lower house and between end cap and the deflector lower house.Worm-wheel shaft intersects vertical with the rotation axis of worm screw.
The wheel set of described employing line traffic control wheel independent steering actuating unit comprises tire, wheel rim, annular wheel hub motor, drg, loop system Moving plate and line traffic control wheel independent steering actuating unit.
The annular wheel hub motor is made up of the identical big footpath tapered roller bearing of annular wheel hub motor outer rotor, 2 structures and steering swivel and electric motor internal stator assembly.The annular wheel hub motor outer rotor is sleeved on steering swivel and the electric motor internal stator assembly by 2 identical big footpath tapered roller bearings of structure.The loop system Moving plate is fixed on the annular wheel hub motor outer rotor left side, captives joint in the right side of the spoke plate on loop system Moving plate and the wheel rim.Tire sleeve is contained on the wheel rim.The last stub of line traffic control wheel independent steering actuating unit by wherein and following stub are respectively running-fit with steering swivel in steering swivel and the electric motor internal stator assembly and are connected with key.
Go up in the technical scheme that stub links with the key of deflector output shaft, last stub links with the key of torque sensor one end, the torque sensor other end and the key of following stub link with the lower end of following stub and suit thereon steering swivel and the electric motor internal stator assembly in the key of steering swivel be connected and be interference fit.
Compared with prior art the beneficial effects of the utility model are:
1. line traffic control wheel independent steering actuating unit described in the utility model both can link to each other with wheel and brake system actuating unit as traditional non-driving steeraxle steering swivel, realized the steering-by-wire function; Also can constitute the collection driving, brake and turn to independent electric wheel assembly, can simplify body structure greatly like this, be convenient to the layout of battery of electric vehicle as matching of being proposed in the utility model with electric drive wheel into one
2., just can control the steering angle of each wheel separately if vehicle is equipped with 4 line traffic control wheel independent steering actuating units described in the utility model.Except the function of finishing the conventional truck steering swivel system, can also suitably rotate trailing wheel according to vehicle-state and realize four-wheel steering, with the stability that improves high vehicle speeds, the manoevreability of low speed driving.On this basis, if the trailing wheel corner is identical with front-wheel, vehicle just can travel by oblique line so, make park easier.In addition, four wheels rotate when making wheel plane respectively perpendicular to the diagonal line of four ground contact points in opposite directions, and vehicle just can be realized pivot stud.Similarly, each wheel is rotated further to wheel plane when vertical with the vehicle longitudinal axis along above-mentioned direction, and vehicle can realize that translation travels.The realization of these special operation conditions greatly reduces the burden of chaufeur, has improved active safety, the road-holding property of vehicle and has turned to manoevreability.
3. the space in the line traffic control wheel independent steering actuating unit collection described in the utility model and in wheel, wheel is used appropriately driving, braking, steering swivel system and suspension integrated level height.Obviously simplified body structure, be convenient to steering control mechanism wait for bus in the layout of equipment.
Description of drawings
Below in conjunction with accompanying drawing the utility model is further described:
Fig. 1 is the scheme drawing of structural principle that adopts the wheel set of line traffic control wheel independent steering actuating unit described in the utility model;
Fig. 2 is the front view that the structure of the wheel set of employing line traffic control wheel independent steering actuating unit described in the utility model is formed;
Fig. 3 is the full sectional view on the line traffic control wheel independent steering actuating unit front view described in the utility model;
Fig. 4 is the work-based logic block diagram of line traffic control wheel independent steering actuating unit described in the utility model;
Among the figure: 1. tire, 2. wheel rim, 3. annular wheel hub motor outer rotor, 4. big directly tapered roller bearing, 5. steering swivel and electric motor internal stator assembly, 6. line traffic control wheel independent steering actuating unit, 7. drg, 8. loop system Moving plate, 9. spring, 10. bumper, 11. suspension guide mechanisms, 12. times stubs, 13. kingpin thrust bearing, 14. stub plain bearings, stub on 15., 16. worm-wheel shaft, 17. worm and gear Simmer rings, 18. worm and gear bearings, 19. worm gear, 20. the deflector lower house, 21. deflector upper shells, 22. steer motor and photoelectric encoder assembled unit, 23. worm screw, 24. end cap, 25. stub stop screws, 26. torque sensors.
The specific embodiment
Below in conjunction with accompanying drawing the utility model is explained in detail:
Consult Fig. 1, Fig. 2 and Fig. 3, the utility model is integrated in the function that inside wheel is realized left and right sides wheel flutter or four wheel independent rotation with described line traffic control wheel independent steering actuating unit 6, so that vehicle is finished some as special driving cycles such as four-wheel steering, pivot studs.What line traffic control wheel independent steering actuating unit 6 can improve vehicle turns to manoevreability, driving safety and road-holding property.
Line traffic control wheel independent steering actuating unit 6 described in the utility model comprises steer motor and photoelectric encoder assembled unit 22, deflector, torque sensor 26, last stub 15, following identical stub plain bearing 14 and the kingpin thrust bearing 13 of 12,2 structures of stub, wherein, deflector is an improved worm type of reduction gearing on structure and the size.The organization plan that is adopted is the power that Vehicular turn is provided by steer motor, photoelectric encoder is sleeved on the motor output shaft, motor output shaft and deflector input shaft are that the end of worm screw 23 is captiveed joint with coupler, the output shaft of deflector is that an end of worm-wheel shaft 16 and an end of torque sensor 26 are fixedly connected on by flat key in the hole of stub 15, packs into and be running-fit in the last kingpin bore of the steering swivel in steering swivel and the electric motor internal stator assembly 5 in the upper end of last stub 15.The lower end of last stub 15 is set with the identical stub plain bearing of structure 14 and is running-fit, and it is running-fit that the identical stub plain bearing 14 of structure that is sleeved on stub 15 lower ends is packed in the last kingpin bore of fork-shaped attaching parts of upper and lower transverse arm of suspension guide mechanism 11.The other end of torque sensor 26 then is connected down in the hole of stub 12 by flat key, following stub 12 is set with the identical stub plain bearing of structure 14 from top to bottom successively and is running-fit with kingpin thrust bearing 13, and it is running-fit that the identical stub plain bearing 14 of structure that is sleeved on play stub 12 upper ends is packed in the following kingpin bore of fork-shaped attaching parts of upper and lower transverse arm of suspension guide mechanism 11.The lower end of following stub 12 then with steering swivel and electric motor internal stator assembly 5 in the following kingpin bore of steering swivel in be connected for key.
Need to prove that for guaranteeing not have steering gear back lash, used key connects and all belongs to interference fit in this invention.Like this, the power of steer motor output is passed to steering swivel and electric motor internal stator assembly 5 by deflector, last stub 15, torque sensor 26 and following stub 12.
Wherein, the output shaft of steer motor and the input shaft of deflector are after the end of worm screw 23 is connected, and with bolt steer motor are fixed on deflector upper shell 21 and the deflector lower house 20.On the fork-shaped attaching parts of the upper and lower transverse arm of suspension guide mechanism 11 and diad conllinear equipped 2 kingpin bores (the last kingpin bore of fork-shaped attaching parts and following kingpin bore) of last stub 15 and play stub 12, and 2 kingpin bores are to adopt along axis split opposite opened structure, so that torque sensor 26, go up stub 15,12,2 structures of stub are identical down stub plain bearing 14 and the installation of kingpin thrust bearing 13.Line traffic control wheel independent steering actuating unit 6 is connected with vehicle frame by suspension guide mechanism 11, described suspension guide mechanism 11 is a double cross arm independent suspension, a last lower cross arm and an end that is set with the bumper 10 of spring 9 form with vehicle body respectively has only being connected of a rotational freedom, and the other end and the lower cross arm of bumper 10 are rotatably connected.
During installation, be screwed into stop screw 25 respectively in the screw on the hole wall of the upper and lower kingpin bore of the steering swivel in steering swivel and electric motor internal stator assembly 5 in case on stub 15 and following stub play about in the of 12.Another part that upper and lower kingpin bore is split is complete with bolt combination.Adjust worm gear 19 and the position of worm screw 23 in deflector lower house 20, build deflector upper shell 21, with bolt deflector upper shell 21 is captiveed joint with deflector lower house 20 then.Whole line traffic control wheel independent steering actuating unit 6 is fixed on the fork-shaped attaching parts of upper and lower transverse arm of suspension guide mechanism 11.
Described deflector comprises worm-wheel shaft 16, worm and gear bearing 18, worm gear 19, deflector lower house 20, deflector upper shell 21, worm screw 23 and end cap 24 that 17,2 structures of worm and gear Simmer ring are identical.
Worm-wheel shaft 16 is installed in the bearing hole on deflector lower house 20 and the deflector upper shell 21 by 2 identical worm and gear bearings 18 of structure and passes the central through hole of the end cap 24 that worm and gear Simmer ring 17 is installed, the inner ring surface that is sleeved on the worm and gear Simmer ring 17 on the worm-wheel shaft 16 is connected with the contact of worm-wheel shaft 16 external cylindrical surfaces, worm gear 19 is connected on the worm-wheel shaft 16 between the identical worm and gear bearing 18 of 2 structures by key and becomes captive joint, and worm screw 23 is by being connected with a joggle in two bearing holes in addition of the identical bearing installation of 2 structures on deflector lower house 20 and deflector upper shell 21 and with worm gear 19.Adopt bolt to be connected between deflector upper shell 21 and the deflector lower house 20 and between end cap 24 and the deflector lower house 20, it is vertical that worm-wheel shaft 16 and the rotation axis of worm screw 23 intersect, symmetrical plane (promptly vertical with the worm gear rotation axis plane) coplane of the rotation axis of worm screw 23 and worm gear 19.
Adopt the wheel set of line traffic control wheel independent steering actuating unit 6 described in the utility model to comprise tire 1, wheel rim 2, annular wheel hub motor (big footpath tapered roller bearing 4 and steering swivel and electric motor internal stator assembly 5 that 3,2 structures of annular wheel hub motor outer rotor are identical), line traffic control wheel independent steering actuating unit 6, drg 7 and brake disc 8.
The wheel that tire 1, brake disc 8 and wheel rim 2 constitute, wherein, captive joint in the right side of the spoke plate on loop system Moving plate 8 and the wheel rim 2, and annular brake disc 8 is by on the left side that is bolted to annular wheel hub motor outer rotor 3.Drg 7 is fixed on the electric motor internal stator in steering swivel and the electric motor internal stator assembly 5.Because all ground all will pass to vehicle frame by tire 1, wheel rim 2, annular wheel hub motor outer rotor 3, steering swivel and electric motor internal stator assembly 5, suspension guide mechanism 11 for the counter-force and the counter torque of wheel.The annular wheel hub motor outer rotor 3 of motor and electric motor internal stator will be through structure-reinforced so, make it can drive wheels can transmit the power and the moment of all directions again.Like this, annular wheel hub motor outer rotor 3 is sleeved on the electric motor internal stator to meet the demands by two identical big footpath tapered roller bearings 4 of structure.For making compact conformation, the utility model integrates steering swivel and electric motor internal stator, steering swivel fork-shaped framing member, steering swivel and electric motor internal stator both can have been made two parts, with the bolt connection that is fixed, also can make a part again, make it form steering swivel and electric motor internal stator assembly 5.The fork of the steering swivel of fork-shaped is processed a through hole that is used for hookup wire car controlling wheel independent steering actuating unit 6 respectively and is promptly gone up kingpin bore and following kingpin bore, last kingpin bore on the steering swivel and the diad conllinear of following kingpin bore, and become 5 ° to 8 ° angle with vertical plane surface.Last kingpin bore in the last stub 15 of line traffic control wheel independent steering actuating unit 6 by wherein and following stub 12 and steering swivel and the electric motor internal stator assembly 5 on the steering swivel is respectively running-fit with following kingpin bore and is connected with key.When wheel steering, steering swivel and electric motor internal stator assembly 5 are around the rotation of the axis of last stub 15 and following stub 12, and its effect is identical with the steering swivel of conventional truck.Steering gear housing is fixed on the vehicle frame.
The principle of work of line traffic control wheel independent steering actuating unit:
For turning to for the actuating unit of wire-controlled steering system, its radical function is to drive wheel nave electric motor internal stator and whole wheel with steer motor by deflector etc., finishes divertical motion that chaufeur is wanted, safety.In addition, because it does not have in the conventional steering system mechanical connection with steering handwheel, this just need turn to actuating unit the information of road surface of necessity can be fed back to chaufeur, strengthens its road feel and is easier to safe driving.These information spinners will provide by being installed in torque sensor 26 between deflector and the steering swivel and the photoelectric encoder that is installed on the motor output shaft.Torque sensor 26 can reflect real-time wheel steering resisting moment, and photoelectric encoder then can reflect the size of wheel turning angle.
Consult Fig. 4, during the pilot control vehicle, the bearing circle module of wire-controlled steering system is given electric machine controller with the steering wheel angle input and the bearing circle torque input information of chaufeur.Electric machine controller is with reference to the state parameter (as the speed of a motor vehicle, yaw velocity etc.) of vehicle and turn to the feedback information (wheel turning angle and wheel steering resisting moment) of actuating unit to control steer motor to finish the operation purpose of chaufeur.Meanwhile, electric machine controller also according to turning to the feedback information (wheel turning angle and wheel steering resisting moment) of actuating unit to control bearing circle resistance simulation motor, strengthens the road feel of chaufeur.

Claims (4)

1. line traffic control wheel independent steering actuating unit, it is characterized in that described line traffic control wheel independent steering actuating unit (6) comprises deflector, time stub (12), kingpin thrust bearing (13), 2 stub plain bearing (14), last stub (15), steer motor and photoelectric encoder assembled unit (22) and torque sensors (26) that structure is identical;
The output shaft of the steer motor in steer motor and the photoelectric encoder assembled unit (22) adopts coupler to be connected with the deflector input shaft, the output shaft of deflector is that key is connected by last stub (15) with an end of torque sensor (26), the other end of torque sensor (26) then is connected for key with following stub (12), it is running-fit that the lower end of last stub (15) is set with the identical stub plain bearing (14) of structure, and it is running-fit with kingpin thrust bearing (13) that following stub (12) is set with the identical stub plain bearing (14) of structure from top to bottom successively.
2. according to the described line traffic control wheel of claim 1 independent steering actuating unit, it is characterized in that described deflector comprises worm-wheel shaft (16), worm and gear Simmer ring (17), 2 worm and gear bearing (18), worm gear (19), deflector lower house (20), deflector upper shell (21), worm screw (23) and end caps (24) that structure is identical;
Worm-wheel shaft (16) is installed on deflector lower house (20) and the deflector upper shell (21) by 2 identical worm and gear bearings (18) of structure, and pass the centre hole of the end cap (24) that worm and gear Simmer ring (17) are installed, worm gear (19) connects by the worm-wheel shaft (16) between the key worm and gear bearing (18) identical with 2 structures, worm screw (23) upward and with worm gear (19) is connected with a joggle at deflector lower house (20) and deflector upper shell (21) by 2 identical bearing installations of structure, adopt bolted connection between deflector upper shell (21) and the deflector lower house (20) and between end cap (24) and the deflector lower house (20), worm-wheel shaft (16) intersects vertical with the rotation axis of worm screw (23).
3. wheel set that adopts the described line traffic control wheel of claim 1 independent steering actuating unit, it is characterized in that described wheel set comprises tire (1), wheel rim (2), annular wheel hub motor, drg (7), loop system Moving plate (8) and line traffic control wheel independent steering actuating unit (6);
The annular wheel hub motor is by annular wheel hub motor outer rotor (3), 2 big footpath tapered roller bearing (4) and steering swivel and electric motor internal stator assembly (5) compositions that structure is identical, annular wheel hub motor outer rotor (3) is sleeved on steering swivel and the electric motor internal stator assembly (5) by 2 identical big footpath tapered roller bearings (4) of structure, loop system Moving plate (8) is fixed on annular wheel hub motor outer rotor (3) left side, captive joint in the right side of the spoke plate on loop system Moving plate (8) and the wheel rim (2), tire (1) is sleeved on the wheel rim (2), and the last stub (15) of line traffic control wheel independent steering actuating unit (6) by wherein and following stub (12) are respectively running-fit with steering swivel in steering swivel and the electric motor internal stator assembly (5) and are connected with key.
4. according to claim 1 or 3 described line traffic control wheel independent steering actuating units, it is characterized in that last stub (15) links with the key of deflector output shaft, go up that stub (15) links with the key of torque sensor (26) one ends, torque sensor (26) other end and the key of following stub (12) link with the lower end of following stub (12) and the suit steering swivel and the key of the middle steering swivel of electric motor internal stator assembly (5) thereon and be connected and be interference fit.
CN2011200016092U 2011-01-05 2011-01-05 Control-by-wire wheel independent steering actuating mechanism and wheel assembly Expired - Lifetime CN201907555U (en)

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CN2011200016092U CN201907555U (en) 2011-01-05 2011-01-05 Control-by-wire wheel independent steering actuating mechanism and wheel assembly

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102069843A (en) * 2011-01-05 2011-05-25 吉林大学 Wire controlled wheel independent steering execution mechanism and wheel assembly
CN102582416A (en) * 2012-02-16 2012-07-18 吉林大学 Full line control electric vehicle with variable kinetic characteristics
CN102774269A (en) * 2012-07-14 2012-11-14 盐城工学院 Unequal double-wishbone suspension wheel side driving device capable of achieving large-angle steering
CN103112493A (en) * 2013-02-22 2013-05-22 同济大学 Cable-driven steer-by-wire mechanism system for independent suspensions
CN105564499A (en) * 2016-03-14 2016-05-11 吉林大学 Construction of chassis of distribution-type driven electric vehicle
CN112714734A (en) * 2018-09-28 2021-04-27 Ntn株式会社 Hub unit with steering function and vehicle with same
CN115243958A (en) * 2020-03-10 2022-10-25 Ntn株式会社 Hub unit with steering function and vehicle with hub unit

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102069843A (en) * 2011-01-05 2011-05-25 吉林大学 Wire controlled wheel independent steering execution mechanism and wheel assembly
CN102069843B (en) * 2011-01-05 2012-11-07 吉林大学 Wire controlled wheel independent steering execution mechanism and wheel assembly
CN102582416A (en) * 2012-02-16 2012-07-18 吉林大学 Full line control electric vehicle with variable kinetic characteristics
CN102582416B (en) * 2012-02-16 2015-05-13 吉林大学 Full line control electric vehicle with variable kinetic characteristics
CN102774269A (en) * 2012-07-14 2012-11-14 盐城工学院 Unequal double-wishbone suspension wheel side driving device capable of achieving large-angle steering
CN102774269B (en) * 2012-07-14 2015-09-30 盐城工学院 A kind of Length discrepancy double wishbone suspension wheel hub drive realizing wide-angle and turn to
CN103112493A (en) * 2013-02-22 2013-05-22 同济大学 Cable-driven steer-by-wire mechanism system for independent suspensions
CN105564499A (en) * 2016-03-14 2016-05-11 吉林大学 Construction of chassis of distribution-type driven electric vehicle
CN112714734A (en) * 2018-09-28 2021-04-27 Ntn株式会社 Hub unit with steering function and vehicle with same
CN112714734B (en) * 2018-09-28 2023-12-29 Ntn株式会社 Hub unit with steering function and vehicle with hub unit
CN115243958A (en) * 2020-03-10 2022-10-25 Ntn株式会社 Hub unit with steering function and vehicle with hub unit

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Granted publication date: 20110727

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