CN203094172U - Steer-by-wire device capable of independent steering and driving electric automobile and suspension system thereof - Google Patents

Steer-by-wire device capable of independent steering and driving electric automobile and suspension system thereof Download PDF

Info

Publication number
CN203094172U
CN203094172U CN2012207188592U CN201220718859U CN203094172U CN 203094172 U CN203094172 U CN 203094172U CN 2012207188592 U CN2012207188592 U CN 2012207188592U CN 201220718859 U CN201220718859 U CN 201220718859U CN 203094172 U CN203094172 U CN 203094172U
Authority
CN
China
Prior art keywords
steering
suspension system
wire device
steer
retarder
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.)
Expired - Lifetime
Application number
CN2012207188592U
Other languages
Chinese (zh)
Inventor
徐国卿
林桂林
李卫民
刘玢玢
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen Institute of Advanced Technology of CAS
Original Assignee
Shenzhen Institute of Advanced Technology of CAS
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Shenzhen Institute of Advanced Technology of CAS filed Critical Shenzhen Institute of Advanced Technology of CAS
Priority to CN2012207188592U priority Critical patent/CN203094172U/en
Application granted granted Critical
Publication of CN203094172U publication Critical patent/CN203094172U/en
Priority to PCT/CN2013/090366 priority patent/WO2014101756A1/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Images

Classifications

    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D7/00—Steering linkage; Stub axles or their mountings
    • B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
    • B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
    • B62D7/15—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels
    • B62D7/1509—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels with different steering modes, e.g. crab-steering, or steering specially adapted for reversing of the vehicle

Abstract

The utility model provides a steer-by-wire device capable of independent steering and driving an electric automobile and a suspension system thereof. The steer-by-wire device comprises a steering motor, a cardan joint and a speed reducer which are connected in sequence, wherein the speed reducer is a worm gear reducer with a mechanical self-locking function, a steering main pin is arranged at one end of an output shaft of the speed reducer, and an absolute type encoder is mounted at the other end of the output shaft of the speed reducer. The utility model further provides a suspension system matched with the steer-by-wire device. The steer-by-wire device is simple and compact in structure, position keeping in the driving process of the automobile can be achieved through a mechanical locking method, and complexity of a steering system is lowered. The suspension system matched with the steer-by-wire device can be used for independently controlling steering of wheels to achieve steering of front wheels and rear wheels, pivot steering and horizontal movement in any direction, and the suspension system is suitable for being used in narrow spaces where flexible steering is needed.

Description

A kind of independent steering and the steering-by-wire device and the suspension system thereof that drive electronlmobil
Technical field
The utility model relates to the electronlmobil field, relates in particular to the steering hardware and the suspension system thereof of electronlmobil.
Background technology
Along with the continuous development of new-energy automobile industry, the four-wheel independent steering is subjected to increasing attention with the driving electronlmobil.Such electronlmobil adopts 4 wheel hub motor individual drive, utilize electronic differential, adopt 4 motors independently to control turning to of four wheels simultaneously, the driving system of no orthodox car and tie rod linkage, the driving efficiency height can be realized comparatively ideal control and the Vehicle Stability Control of turning to, in addition, 4 wheels can both carry out wide-angle and turn to, and can realize the pivot stud and the cross running of vehicle, have greatly improved the alerting ability that automobile moves.Such concept car has appearred in Japan at present, and is domestic to the also existing research of such electronlmobil.
Announced a kind of individual drive as Chinese patent literature CN200910017734, turn to, the wheel assembly with integration that hangs and brake, wherein, steering hardware is by steer motor, universal slip joint, drive bevel gear, driven wheel of differential and absolute type encoder are formed, be connected by universal slip joint between steer motor and the drive bevel gear, the rear portion of steer motor is connected with magnet stopper, driven wheel of differential and drive bevel gear engagement, driven wheel of differential is fixedly mounted on overcoat one end of constant-velocity universal joint in the draft hitch, and absolute type encoder is installed in the outer of constant-velocity universal joint and puts; Draft hitch is made up of Top Crossbeam, constant-velocity universal joint, steering swivel, bulb, following swing arm and bumper, the steering swivel upper end is rigidly connected with the interior cover of constant-velocity universal joint, the constant-velocity universal joint overcoat links to each other with top link by bearing, its lower end is connected with following swing arm by bulb, and bumper one end is connected with following swing arm.This device has been realized individual drive and has been turned to, but the position of wheel keeps realizing by magnet stopper in the vehicle ' process, this design makes the parts of steering swivel system more, and it is very complicated that whole steering swivel system becomes, and has also increased the cost of care and maintenance simultaneously.
The utility model content
The utility model provides a kind of system architecture simple at the problem that prior art exists, and is convenient to the steering hardware and the suspension system of the electronlmobil with individual drive, independent steering function of maintaining.
For achieving the above object, the present invention is by the following technical solutions:
A kind of independent steering and the steering-by-wire device that drives electronlmobil, comprise bonded assembly steer motor, universal-joint and retarder successively, described steer motor is fixedly mounted on the car body, described steer motor is connected with described retarder by described universal-joint, described retarder is the worm type of reduction gearing with mechanical self-latching function, output shaft one end of described retarder is provided with steering yoke bolt, and the other end is equipped with absolute type encoder.
Described universal-joint is the telescoping universal-joint.
A kind of suspension system that cooperates above-mentioned steering-by-wire device, comprise draft hitch, the steering-by-wire device, hub drive device and brake equipment, Top Crossbeam and lower cross arm that described draft hitch comprises vehicle frame and laterally is connected its top and bottom respectively, the lower end of steering swivel is passed through down, and bulb is connected with lower cross arm, between lower cross arm and vehicle frame, be provided with bumper, it is characterized in that: the described steering yoke bolt of the mouth of described retarder is connected with the ball cage that is fixed in described steering swivel upper end by spline, described steering yoke bolt is fixed on the bearing base of Top Crossbeam end by a pair of tapered roller bearing, and by roller bearing end cap tapered roller bearing is carried out axial restraint.
Described hub drive device comprises wheel and wheel hub motor, and the outer rotor of wheel hub motor and the wheel rim of wheel are fixed together, and the stator axis of wheel hub motor and the steering swivel in the draft hitch are rigidly connected.
Described brake equipment comprises brake caliper and brake disc, and brake caliper is fixed on the steering swivel, and brake disc is fixing with the outer rotor of wheel hub motor.
Described brake caliper adopts hydraulic-driven.
Described Top Crossbeam has two cross bars, and described cross bar and vehicle frame constitute triangular structure on horizontal surface, and described retarder is installed in the junction of described two cross bars.
Described bumper is a spring damper, and an end of described spring damper is connected on the vehicle frame, and the other end is connected the end of lower cross arm.
The beneficial effects of the utility model are:
1, independent steering described in the utility model and the steering-by-wire device that drives electronlmobil, comprise steer motor, universal-joint and retarder, described retarder is the turbine bar retarder with mechanical self-latching function, output shaft one end at retarder is provided with steering yoke bolt, and the other end is equipped with absolute type encoder.Adopt worm type of reduction gearing in this technical scheme with auto-lock function, this worm type of reduction gearing can either play the effect of acceleration, can make automobile keep certain direction in the process of moving again, effectively avoided the available technology adopting magnet stopper to cause the steering swivel system parts more, the technical matters of system complex, the structure of steering swivel system has been simplified in this design again when guaranteeing to turn to function, make described steering-by-wire apparatus structure simply compact, make whole steering swivel system become simple and practical, and adopt the mechanical caging mode to realize the position in the vehicle ' process is kept, reduce the complexity of steering swivel system, and help maintenance.
2, the utility model provides a kind of suspension system, comprise draft hitch, the steering-by-wire device, hub unit and brake equipment, described steering-by-wire device is independent steering described in the utility model and the steering-by-wire device that drives electronlmobil, the described steering yoke bolt of described steering-by-wire device is connected with the ball cage that is fixed in described steering swivel upper end by spline, described steering yoke bolt is fixed on the bearing base of Top Crossbeam end by a pair of tapered roller bearing, and tapered roller bearing is carried out axial restraint by roller bearing end cap, by said structure described steering-by-wire device is connected with described draft hitch, constitute suspension system, it is firm to make whole suspension system connect, simple in structure, control is convenient.Adopt the independent suspension system of steering-by-wire device described in the utility model, can independently control wheel steering, realize the motion of translation of front-and rear-wheel steer, pivot stud and any direction, be applicable to the place that the space is narrow and small and need turn to flexibly.
3, suspension system described in the utility model, two cross bars of upper cantilever and vehicle frame constitute triangular structure, and retarder is installed in the junction of two cross bars, promptly leg-of-mutton drift angle place, steer motor is fixed on the vehicle frame, and the whole steering swivel system that so just is is more firm.
Description of drawings
Fig. 1 is a structural representation of the present utility model;
Fig. 2 is the front view of steering swivel;
Fig. 3 is the birds-eye view of steering swivel;
Fig. 4 is the front view of Top Crossbeam;
Fig. 5 is the birds-eye view of Top Crossbeam;
Fig. 6 is a wheel steering scheme drawing of the present utility model;
Among the figure: 11-wheel hub motor, 12-wheel, 21-steer motor, 22-universal slip joint, the 23-retarder, 24-coder, 25-steering yoke bolt, the 30-roller bearing end cap, 31-vehicle frame, 32-Top Crossbeam, the 33-bumper, 34-ball cage, 35-lower cross arm, the 36-steering swivel, bulb under the 37-, 38-bolt, the 39-tapered roller bearing, 41-brake disc, 42-brake caliper.
The specific embodiment
Embodiment 1:
Referring to Fig. 1, the utility model provides a kind of steering-by-wire device, comprises bonded assembly steer motor 21, universal-joint 22 and retarder 23 successively, and described steer motor 21 is fixedly mounted on the car body.Described steer motor 21 is connected with described retarder 23 by universal-joint 22, the worm type of reduction gearing of described retarder 23 for having the mechanical self-latching function, output shaft one end of described retarder 23 is provided with steering yoke bolt 25, this steering yoke bolt is arranged at the ball cage 34 interior (referring to Fig. 2 Fig. 3) of steering swivel 36 upper ends by spline, the other end of retarder 23 is equipped with absolute type encoder 24, described absolute type encoder 24 is used for the deflection angle of wheel is fed back to operator's compartment, realizes artificial or computer controlled.Described worm type of reduction gearing can play the effect of deceleration on the one hand, can make wheel keep certain direction in the process of moving on the other hand again, so just can save the magnet stopper in the existing steering swivel system, has simplified the structure of steering swivel system.Therefore, steering-by-wire apparatus structure described in the utility model is simply compact, and adopts the mechanical caging mode to realize the position in the vehicle ' process is kept, and reduces the complexity of steering swivel system.
The universal-joint 22 that present embodiment adopts is the telescoping universal-joint, jolts owing to automobile can produce in the process of travelling unavoidably, and adopts the telescoping universal-joint just can make automobile still keep original deflection angle under the situation of jolting.
Embodiment 2:
The utility model also provides a kind of suspension system of using the foregoing description 1 to constitute, comprises draft hitch, steering-by-wire device, hub drive device and brake equipment.
Top Crossbeam 32 and lower cross arm 35 that described draft hitch comprises vehicle frame 31 and laterally is connected its top and bottom respectively, the front view of Top Crossbeam and birds-eye view are referring to Fig. 4 and Fig. 5, also comprise steering swivel 36, the common Fig. 2 of the front view of described steering swivel 36 and birds-eye view and Fig. 3, the lower end of steering swivel 36 is connected with lower cross arm 35 by following bulb 37, is provided with bumper 33 between the end of lower cross arm 35 and vehicle frame.
Described steering-by-wire device comprises bonded assembly steer motor 21, universal-joint 22 and retarder 23 successively, and described steer motor 21 is fixedly mounted on the car body.Described steer motor 21 is connected with described retarder 23 by universal-joint 22, the worm type of reduction gearing of described retarder 23 for having the mechanical self-latching function, one end of described retarder 23 is equipped with absolute type encoder 24, the output shaft other end of described retarder 23 is provided with steering yoke bolt 25, described steering yoke bolt 25 is connected with the ball cage 34 that is fixed in described steering swivel 36 upper ends by spline, described steering yoke bolt 25 is fixed on the bearing base of Top Crossbeam 32 ends by a pair of tapered roller bearing 39, and carries out axial restraint by roller bearing end cap 30.
Described hub drive device comprises wheel 12 and wheel hub motor 11, and the outer rotor of wheel hub motor 11 is fixing with the wheel rim of wheel 12, and the stator axis and the steering swivel in the draft hitch 36 of wheel hub motor 11 are rigidly connected.This set makes all an independent driving motor on each wheel, described motor is fixed on the steering swivel, has increased the alerting ability that drives.
Described brake equipment comprises brake caliper 42 and brake disc 41, and brake caliper 42 is fixed on the steering swivel 36, and brake disc is fixing with the outer rotor of wheel hub motor 11.Brake caliper 42 adopts hydraulic-driven, also can use air pressure to drive.
Described suspension system in the present embodiment that use embodiment 1 described steering-by-wire device constitutes, can independently control wheel steering, realize the motion of translation of front-and rear-wheel steer, pivot stud and any direction, as shown in Figure 6, be particularly useful for the place that the space is narrow and small and need turn to flexibly.
Embodiment 3:
On the basis of embodiment 2, described Top Crossbeam 32 can also further be set to have the structure of two cross bars, and referring to Fig. 5, described cross bar and vehicle frame constitute triangular structure on horizontal surface, and described retarder 23 is installed in the drift angle place of described triangular structure.This set makes full use of leg-of-mutton stability, makes the effect of making of Top Crossbeam more firm, has guaranteed the safety of whole suspension system.
In the present embodiment, described bumper 33 is a spring damper, and an end of described spring damper is connected on the vehicle frame 31, and the other end is connected the end of lower cross arm 35.Spring damper is the most common and the wider a kind of bumper of range of use, but the utility model is not limited in this a kind of bumper, as using air bag bumper etc., here just play the effect of a damping, make automobile that a comparatively comfortable environment be arranged, bumper is not had specific requirement.
In addition, the ball cage 34 in the present embodiment and the axis in-line of following bulb 37, when steer motor receives turn sign, drive the worm and gear rotation in the retarder, thereby making universal-joint is the axle center with the central axis of ball cage and following bulb, the drive wheel pivots, thereby makes wheel steering.Because the pivot center of deflector has certain distance apart from the medial surface of wheel, this distance can make wheel rotate required angle around described axle center.
The above only is a most preferred embodiment of the present utility model, and in order to restriction the utility model, all within spirit of the present utility model and principle, any modification of being done, improvement etc. all should not be included within the protection domain of the present utility model.

Claims (8)

1. independent steering and the steering-by-wire device that drives electronlmobil, comprise bonded assembly steer motor (21), universal-joint (22) and retarder (23) successively, described steer motor (21) is fixedly mounted on the car body, described steer motor (21) is connected with described retarder (23) by described universal-joint (22), it is characterized in that: the worm type of reduction gearing of described retarder (23) for having the mechanical self-latching function, output shaft one end of described retarder is provided with steering yoke bolt (25), and the other end is equipped with absolute type encoder (24).
2. independent steering according to claim 1 and the steering-by-wire device that drives electronlmobil, it is characterized in that: described universal-joint (22) is the telescoping universal-joint.
3. suspension system of using the described steering-by-wire device of claim 1, comprise draft hitch, the steering-by-wire device, hub drive device and brake equipment, Top Crossbeam (32) and lower cross arm (35) that described draft hitch comprises vehicle frame (31) and laterally is connected its top and bottom respectively, the lower end of steering swivel (36) is passed through down, and bulb (37) is connected with lower cross arm (35), between lower cross arm (35) and vehicle frame, be provided with bumper (33), it is characterized in that: the described steering yoke bolt (25) of the mouth of described retarder (23) is connected with the ball cage (34) that is fixed in described steering swivel (36) upper end by spline, described steering yoke bolt (25) is fixed on the terminal bearing base of Top Crossbeam (32) by a pair of tapered roller bearing (39), and by roller bearing end cap (30) tapered roller bearing (39) is carried out axial restraint.
4. according to the described suspension system of claim 3, it is characterized in that: hub drive device comprises wheel (12) and wheel hub motor (11), the wheel rim of the outer rotor of wheel hub motor (11) and wheel (12) is fixed together, and the stator axis of wheel hub motor (11) and the steering swivel in the draft hitch (36) are rigidly connected.
5. according to the described suspension system of claim 4, it is characterized in that: described brake equipment comprises brake caliper (42) and brake disc (41), brake caliper (42) is fixed on the steering swivel (36), and brake disc (41) is fixing with the outer rotor of wheel hub motor (11).
6. according to the described suspension system of claim 5, it is characterized in that: described brake caliper (42) adopts hydraulic-driven.
7. according to claim 3 or 4 or 5 described suspension systems, it is characterized in that: described Top Crossbeam (32) has two cross bars, described cross bar and vehicle frame (31) constitute triangular structure on horizontal surface, described retarder (23) is installed in the junction of described two cross bars.
8. according to the described suspension system of claim 3, it is characterized in that: described bumper (33) is a spring damper, and an end of described spring damper is connected on the vehicle frame (31), and the other end is connected the end of lower cross arm (35).
CN2012207188592U 2012-12-24 2012-12-24 Steer-by-wire device capable of independent steering and driving electric automobile and suspension system thereof Expired - Lifetime CN203094172U (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN2012207188592U CN203094172U (en) 2012-12-24 2012-12-24 Steer-by-wire device capable of independent steering and driving electric automobile and suspension system thereof
PCT/CN2013/090366 WO2014101756A1 (en) 2012-12-24 2013-12-24 Steer-by-wire apparatus independently steering and driving electric automobile, and suspension system thereof

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN2012207188592U CN203094172U (en) 2012-12-24 2012-12-24 Steer-by-wire device capable of independent steering and driving electric automobile and suspension system thereof

Publications (1)

Publication Number Publication Date
CN203094172U true CN203094172U (en) 2013-07-31

Family

ID=48845603

Family Applications (1)

Application Number Title Priority Date Filing Date
CN2012207188592U Expired - Lifetime CN203094172U (en) 2012-12-24 2012-12-24 Steer-by-wire device capable of independent steering and driving electric automobile and suspension system thereof

Country Status (2)

Country Link
CN (1) CN203094172U (en)
WO (1) WO2014101756A1 (en)

Cited By (47)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103569197A (en) * 2013-11-12 2014-02-12 安徽工程大学 Four-wheel steering system and control method thereof
CN103802600A (en) * 2013-12-18 2014-05-21 浙江吉利控股集团有限公司 Automobile with adjustable rear wheel tread
WO2014101756A1 (en) * 2012-12-24 2014-07-03 中国科学院深圳先进技术研究院 Steer-by-wire apparatus independently steering and driving electric automobile, and suspension system thereof
CN104842733A (en) * 2015-05-15 2015-08-19 中国科学院深圳先进技术研究院 Electric vehicle suspension system based on hub direct drive motor
CN104890504A (en) * 2015-06-03 2015-09-09 同济大学 Integral speed reduction type electric wheel driving system for trapezoidal linkage type independent suspension
WO2015149288A1 (en) * 2014-04-01 2015-10-08 深圳市智轮电动车驱动技术有限公司 Electric vehicle
WO2015158066A1 (en) * 2014-04-16 2015-10-22 中国科学院深圳先进技术研究院 Electric automobile chassis system with four-wheel independent steering and steering-by-wire mechanism thereof
CN105365510A (en) * 2014-08-12 2016-03-02 诺曼信托 Vehicle suspension
CN105415996A (en) * 2016-01-14 2016-03-23 吉林大学 Suspension system and steering system for distributed driving and independent steering electric automobile
CN105667579A (en) * 2016-03-03 2016-06-15 西安工业大学 Differential steering system for hub motor driving electric automobile and electric automobile
CN105667595A (en) * 2015-12-28 2016-06-15 广东天非尼迪新能源科技有限公司 Hub motor drive driven electric miniature sports car
CN105882741A (en) * 2016-05-24 2016-08-24 辽宁工业大学 Independent drive and steering type modularized automobile wheel assembly and rear wheel steering control method
KR20160140721A (en) * 2014-04-01 2016-12-07 센젠 즈룬 드라이빙 테크놀러지 포 일렉트릭 비이클 컴퍼니 리미티드 Electric vehicle chassis and electric vehicle using same
CN106379158A (en) * 2016-10-24 2017-02-08 华东交通大学 Motor driving system for electric automobile hub
CN106428198A (en) * 2016-11-30 2017-02-22 湘潭电机股份有限公司 Electric wheel
CN106585306A (en) * 2016-11-08 2017-04-26 同济大学 Integrated drive-by-wire independent steering system based on double wishbone suspension
CN106741144A (en) * 2016-12-23 2017-05-31 同济大学 The Four wheel independent steering system that steering motor is placed on double wishbone suspension knuckle
CN106741142A (en) * 2016-12-23 2017-05-31 同济大学 Steering motor is arranged on knuckle and the Four wheel independent steering system with pull bar
US9821835B2 (en) * 2012-09-07 2017-11-21 Microelectronica Maser, S.L. Power steering system for automobiles
CN107444486A (en) * 2017-08-31 2017-12-08 山东科技大学 A kind of intelligent automobile omnidirectional's transfer
CN107719099A (en) * 2017-09-05 2018-02-23 杭州伯坦科技工程有限公司 Four wheels of electric automobile independently drives independent steering actuating mechanism and performs method
CN107878592A (en) * 2017-12-14 2018-04-06 中国科学院合肥物质科学研究院 A kind of independent suspension mechanism for quadruped robot
CN107985442A (en) * 2017-12-28 2018-05-04 徐工集团工程机械有限公司 Drive mechanism for wheel, wheel unit and unmanned platform truck
CN107985395A (en) * 2017-12-28 2018-05-04 欧孚迪汽车设计武汉有限公司 Can all-wheel steering electric car steering
CN108001115A (en) * 2017-12-27 2018-05-08 福建农林大学 A kind of sandy beach wheel and its application method
CN108081886A (en) * 2017-11-30 2018-05-29 燕山大学 A kind of wheel side of comprehensive steering turns to suspension fork mechanism
CN108216423A (en) * 2018-02-06 2018-06-29 中北大学 A kind of intelligent control all-electric mobile platform of pleiotaxy hydraulic suspension
GB2558556A (en) * 2017-01-03 2018-07-18 Mecalac Construction Equipment Uk Ltd Apparatus and method for position sensing, correction and mode change in a multi-axle steering system
CN108556581A (en) * 2018-06-25 2018-09-21 汕头大学 A kind of automobile-used independent suspension type double drive double steering four-wheel drive mechanism of weeding
CN108909830A (en) * 2018-09-05 2018-11-30 中信戴卡股份有限公司 A kind of auto steerer and automobile
CN109229235A (en) * 2018-11-09 2019-01-18 北京理工大学 A kind of driving steering unit, modular vehicle and modularization transportation system
CN109353407A (en) * 2018-09-19 2019-02-19 西安交通大学 A kind of omnidirectional running vehicle modulesization driving steering system and vehicle
CN109703617A (en) * 2019-01-28 2019-05-03 武汉科技大学 Omnidirectional's Electric Motor Wheel and electric vehicle
CN109878280A (en) * 2019-04-19 2019-06-14 吉林大学 A kind of amphibious electric car wheel position conversion device and its control method
CN109959520A (en) * 2019-04-03 2019-07-02 北京博科测试系统股份有限公司 A kind of test target vehicle high-speed mobile chassis
CN110053660A (en) * 2019-06-06 2019-07-26 吉林大学 A kind of steering-by-wire mechanism and its control method for electric wheel drive vehicle
CN110884565A (en) * 2018-09-07 2020-03-17 沈阳新松机器人自动化股份有限公司 Suspension steering mechanism based on four-wheel drive platform truck
CN111605397A (en) * 2020-04-17 2020-09-01 北京理工大学 Array type hub motor driving system and multi-wheel hub motor integration and brake steering integrated unmanned vehicle chassis
CN111806555A (en) * 2020-06-03 2020-10-23 中国北方车辆研究所 Independent steering system with push-pull cylinder arranged on single longitudinal arm of single longitudinal arm suspension
CN111918810A (en) * 2018-03-27 2020-11-10 Ntn株式会社 Hub unit with steering function, steering system and vehicle
CN112208673A (en) * 2020-08-31 2021-01-12 深圳市优必选科技股份有限公司 Omnidirectional movement robot
CN112238895A (en) * 2020-10-16 2021-01-19 中国北方车辆研究所 Independent steering system with steering motor arranged on equal-length double-trailing-arm suspension knuckle
CN113561201A (en) * 2021-08-13 2021-10-29 南通科钛机器人系统有限公司 Patrol and guard robot with obstacle avoiding function
CN113997780A (en) * 2021-12-09 2022-02-01 吉林大学 Drive-by-wire chassis based on self-redundancy integrated wheel module and control method thereof
CN114368256A (en) * 2022-02-24 2022-04-19 上海龙创汽车设计股份有限公司 Chassis system and vehicle
US11364761B2 (en) * 2019-12-04 2022-06-21 Hyundai Motor Company Vehicle suspension device
CN114670920A (en) * 2022-03-14 2022-06-28 吉林大学 Automatic wheel module for sliding plate type chassis

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3299258B1 (en) 2016-09-23 2020-11-04 Dana Heavy Vehicle Systems Group, LLC Steer-by-wire steering system
DE102018118615B4 (en) * 2018-08-01 2021-04-29 Schaeffler Technologies AG & Co. KG Relative guide device for a steering arrangement arranged on the wheel carrier side
GB2582640B (en) * 2019-03-29 2021-10-27 Protean Electric Ltd A drive arrangement for a vehicle
CN110525512B (en) * 2019-09-25 2020-07-31 吉林大学 Drive-by-wire steering mechanism based on Macpherson suspension and control method thereof
JP2022030203A (en) * 2020-08-06 2022-02-18 トヨタ自動車株式会社 Steering system
KR20220033321A (en) * 2020-09-09 2022-03-16 현대모비스 주식회사 Steering device of independent drive wheel and independent drive module including same

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6561307B1 (en) * 2001-12-28 2003-05-13 Meritor Heavy Vehicle Technology, Llc Independent suspension steering system
CN101638052B (en) * 2009-08-21 2012-01-04 山东大学 Wheel assembly with integration of independent driving, steering, suspending and braking
CN201484168U (en) * 2009-08-21 2010-05-26 山东大学 Integrative wheel assembly with independent driving, steering, hanging and braking
CN201670260U (en) * 2010-05-07 2010-12-15 深圳职业技术学院 Independent steering device and independent suspension system
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
CN203094172U (en) * 2012-12-24 2013-07-31 中国科学院深圳先进技术研究院 Steer-by-wire device capable of independent steering and driving electric automobile and suspension system thereof

Cited By (73)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9821835B2 (en) * 2012-09-07 2017-11-21 Microelectronica Maser, S.L. Power steering system for automobiles
WO2014101756A1 (en) * 2012-12-24 2014-07-03 中国科学院深圳先进技术研究院 Steer-by-wire apparatus independently steering and driving electric automobile, and suspension system thereof
CN103569197A (en) * 2013-11-12 2014-02-12 安徽工程大学 Four-wheel steering system and control method thereof
CN103802600B (en) * 2013-12-18 2016-01-20 浙江吉利控股集团有限公司 A kind of rear track can the automobile of modulation
CN103802600A (en) * 2013-12-18 2014-05-21 浙江吉利控股集团有限公司 Automobile with adjustable rear wheel tread
CN106715189B (en) * 2014-04-01 2019-07-02 广东华旵智动行运系统研究院有限公司 A kind of electric car
WO2015149288A1 (en) * 2014-04-01 2015-10-08 深圳市智轮电动车驱动技术有限公司 Electric vehicle
EP3127743A4 (en) * 2014-04-01 2018-05-09 Shenzhen Zhilun Driving Technology for Electric Vehicle Co., Ltd. Electric vehicle
KR102207500B1 (en) * 2014-04-01 2021-01-26 광동 후안 리서치 인스티튜트 오브 인텔리전트 트랜스포테이션 시스템 컴퍼니 리미티드 Electric vehicle chassis and electric vehicle using same
KR102247781B1 (en) * 2014-04-01 2021-05-04 광동 후안 리서치 인스티튜트 오브 인텔리전트 트랜스포테이션 시스템 컴퍼니 리미티드 Electric vehicle
KR20160138173A (en) * 2014-04-01 2016-12-02 센젠 즈룬 드라이빙 테크놀러지 포 일렉트릭 비이클 컴퍼니 리미티드 Electric vehicle
KR20160140721A (en) * 2014-04-01 2016-12-07 센젠 즈룬 드라이빙 테크놀러지 포 일렉트릭 비이클 컴퍼니 리미티드 Electric vehicle chassis and electric vehicle using same
US10266199B2 (en) * 2014-04-01 2019-04-23 Guangdong Hua'chan Research Institute Of Intelligent Transportation System Co., Ltd Electric vehicle
US10155442B2 (en) * 2014-04-01 2018-12-18 Shenzhen Zhilun Driving Technology for Electric Vehicle Co., Ltd. Electric vehicle chassis and electric vehicle using same
CN106715189A (en) * 2014-04-01 2017-05-24 深圳市智轮电动车驱动技术有限公司 Electric vehicle
WO2015158066A1 (en) * 2014-04-16 2015-10-22 中国科学院深圳先进技术研究院 Electric automobile chassis system with four-wheel independent steering and steering-by-wire mechanism thereof
CN105365510A (en) * 2014-08-12 2016-03-02 诺曼信托 Vehicle suspension
CN105365510B (en) * 2014-08-12 2019-09-17 诺曼信托 Vehicle suspension
CN104842733B (en) * 2015-05-15 2017-04-05 中国科学院深圳先进技术研究院 A kind of electric automobile suspension system based on hub direct-drive motor
CN104842733A (en) * 2015-05-15 2015-08-19 中国科学院深圳先进技术研究院 Electric vehicle suspension system based on hub direct drive motor
CN104890504B (en) * 2015-06-03 2017-04-05 同济大学 A kind of integrated trapezoidal link-type independent suspension speed-reducing type wheel power drive system
CN104890504A (en) * 2015-06-03 2015-09-09 同济大学 Integral speed reduction type electric wheel driving system for trapezoidal linkage type independent suspension
CN105667595B (en) * 2015-12-28 2018-08-24 广东天非尼迪新能源科技有限公司 In-wheel motor driving Minitype electric sport car
CN105667595A (en) * 2015-12-28 2016-06-15 广东天非尼迪新能源科技有限公司 Hub motor drive driven electric miniature sports car
CN105415996A (en) * 2016-01-14 2016-03-23 吉林大学 Suspension system and steering system for distributed driving and independent steering electric automobile
CN105667579A (en) * 2016-03-03 2016-06-15 西安工业大学 Differential steering system for hub motor driving electric automobile and electric automobile
CN105882741B (en) * 2016-05-24 2018-06-05 辽宁工业大学 A kind of independent vehicular modular wheel set and rear-axle steering control method driven with turning to
CN105882741A (en) * 2016-05-24 2016-08-24 辽宁工业大学 Independent drive and steering type modularized automobile wheel assembly and rear wheel steering control method
CN106379158A (en) * 2016-10-24 2017-02-08 华东交通大学 Motor driving system for electric automobile hub
CN106585306B (en) * 2016-11-08 2019-01-25 同济大学 A kind of integrated line traffic control independent steering system based on double wishbone suspension
CN106585306A (en) * 2016-11-08 2017-04-26 同济大学 Integrated drive-by-wire independent steering system based on double wishbone suspension
CN106428198A (en) * 2016-11-30 2017-02-22 湘潭电机股份有限公司 Electric wheel
CN106741142A (en) * 2016-12-23 2017-05-31 同济大学 Steering motor is arranged on knuckle and the Four wheel independent steering system with pull bar
CN106741144A (en) * 2016-12-23 2017-05-31 同济大学 The Four wheel independent steering system that steering motor is placed on double wishbone suspension knuckle
GB2558556A (en) * 2017-01-03 2018-07-18 Mecalac Construction Equipment Uk Ltd Apparatus and method for position sensing, correction and mode change in a multi-axle steering system
GB2558556B (en) * 2017-01-03 2020-05-27 Mecalac Construction Equipment Uk Ltd Apparatus and method for position sensing, correction and mode change in a multi-axle steering system
CN107444486B (en) * 2017-08-31 2023-08-04 山东科技大学 Omnidirectional steering device for intelligent automobile
CN107444486A (en) * 2017-08-31 2017-12-08 山东科技大学 A kind of intelligent automobile omnidirectional's transfer
CN107719099A (en) * 2017-09-05 2018-02-23 杭州伯坦科技工程有限公司 Four wheels of electric automobile independently drives independent steering actuating mechanism and performs method
CN108081886A (en) * 2017-11-30 2018-05-29 燕山大学 A kind of wheel side of comprehensive steering turns to suspension fork mechanism
CN107878592B (en) * 2017-12-14 2023-05-02 中国科学院合肥物质科学研究院 Independent suspension mechanism for four-foot robot
CN107878592A (en) * 2017-12-14 2018-04-06 中国科学院合肥物质科学研究院 A kind of independent suspension mechanism for quadruped robot
CN108001115A (en) * 2017-12-27 2018-05-08 福建农林大学 A kind of sandy beach wheel and its application method
CN108001115B (en) * 2017-12-27 2023-08-18 福建农林大学 Beach vehicle wheel and using method thereof
CN107985395A (en) * 2017-12-28 2018-05-04 欧孚迪汽车设计武汉有限公司 Can all-wheel steering electric car steering
CN107985442A (en) * 2017-12-28 2018-05-04 徐工集团工程机械有限公司 Drive mechanism for wheel, wheel unit and unmanned platform truck
CN108216423B (en) * 2018-02-06 2019-06-11 中北大学 A kind of all-electric mobile platform of intelligent control of pleiotaxy hydraulic suspension
CN108216423A (en) * 2018-02-06 2018-06-29 中北大学 A kind of intelligent control all-electric mobile platform of pleiotaxy hydraulic suspension
US11731693B2 (en) 2018-03-27 2023-08-22 Ntn Corporation Hub unit with steering function, steering system, and vehicle
CN111918810A (en) * 2018-03-27 2020-11-10 Ntn株式会社 Hub unit with steering function, steering system and vehicle
CN108556581A (en) * 2018-06-25 2018-09-21 汕头大学 A kind of automobile-used independent suspension type double drive double steering four-wheel drive mechanism of weeding
CN108909830A (en) * 2018-09-05 2018-11-30 中信戴卡股份有限公司 A kind of auto steerer and automobile
CN110884565A (en) * 2018-09-07 2020-03-17 沈阳新松机器人自动化股份有限公司 Suspension steering mechanism based on four-wheel drive platform truck
CN109353407A (en) * 2018-09-19 2019-02-19 西安交通大学 A kind of omnidirectional running vehicle modulesization driving steering system and vehicle
CN109229235A (en) * 2018-11-09 2019-01-18 北京理工大学 A kind of driving steering unit, modular vehicle and modularization transportation system
CN109229235B (en) * 2018-11-09 2024-01-23 北京理工大学 Drive steering unit, modularized vehicle and modularized transportation system
CN109703617A (en) * 2019-01-28 2019-05-03 武汉科技大学 Omnidirectional's Electric Motor Wheel and electric vehicle
CN109959520A (en) * 2019-04-03 2019-07-02 北京博科测试系统股份有限公司 A kind of test target vehicle high-speed mobile chassis
CN109878280A (en) * 2019-04-19 2019-06-14 吉林大学 A kind of amphibious electric car wheel position conversion device and its control method
CN109878280B (en) * 2019-04-19 2024-03-29 吉林大学 Amphibious electric vehicle wheel position conversion device and control method thereof
CN110053660B (en) * 2019-06-06 2024-02-06 吉林大学 Drive-by-wire steering mechanism for electric wheel drive automobile and control method thereof
CN110053660A (en) * 2019-06-06 2019-07-26 吉林大学 A kind of steering-by-wire mechanism and its control method for electric wheel drive vehicle
US11364761B2 (en) * 2019-12-04 2022-06-21 Hyundai Motor Company Vehicle suspension device
CN111605397A (en) * 2020-04-17 2020-09-01 北京理工大学 Array type hub motor driving system and multi-wheel hub motor integration and brake steering integrated unmanned vehicle chassis
CN111806555B (en) * 2020-06-03 2022-03-25 中国北方车辆研究所 Independent steering system with push-pull cylinder arranged on single longitudinal arm of single longitudinal arm suspension
CN111806555A (en) * 2020-06-03 2020-10-23 中国北方车辆研究所 Independent steering system with push-pull cylinder arranged on single longitudinal arm of single longitudinal arm suspension
CN112208673A (en) * 2020-08-31 2021-01-12 深圳市优必选科技股份有限公司 Omnidirectional movement robot
CN112238895A (en) * 2020-10-16 2021-01-19 中国北方车辆研究所 Independent steering system with steering motor arranged on equal-length double-trailing-arm suspension knuckle
CN113561201A (en) * 2021-08-13 2021-10-29 南通科钛机器人系统有限公司 Patrol and guard robot with obstacle avoiding function
CN113997780A (en) * 2021-12-09 2022-02-01 吉林大学 Drive-by-wire chassis based on self-redundancy integrated wheel module and control method thereof
CN113997780B (en) * 2021-12-09 2024-03-29 吉林大学 Wire control chassis based on self-redundancy integrated wheel module and control method thereof
CN114368256A (en) * 2022-02-24 2022-04-19 上海龙创汽车设计股份有限公司 Chassis system and vehicle
CN114670920A (en) * 2022-03-14 2022-06-28 吉林大学 Automatic wheel module for sliding plate type chassis

Also Published As

Publication number Publication date
WO2014101756A1 (en) 2014-07-03

Similar Documents

Publication Publication Date Title
CN203094172U (en) Steer-by-wire device capable of independent steering and driving electric automobile and suspension system thereof
CN201484168U (en) Integrative wheel assembly with independent driving, steering, hanging and braking
CN105882741B (en) A kind of independent vehicular modular wheel set and rear-axle steering control method driven with turning to
CN101638052B (en) Wheel assembly with integration of independent driving, steering, suspending and braking
CN201670260U (en) Independent steering device and independent suspension system
CN105313953B (en) Possess the automobile single-wheel device and control method of independent steering and Direct wheel drives
CN102085799B (en) Wheel motion assembly of city electric vehicle
CN109353405B (en) Vehicle steering and roll linkage mechanism and roll control method
CN103917434A (en) Steering device for wheel
CN109353406B (en) Vehicle turning and rolling device and rolling control method
CN105579326A (en) Steering apparatus
CN109625086A (en) Vehicular turn rolls linkage and active roll vehicle
CN207311590U (en) A kind of independent steering structure that can improve four-wheel driving electric vehicle stability
CN109625089A (en) Vehicular turn rolls the vehicle of linkage and the application device
CN206678711U (en) A kind of achievable independent suspension frame unit for turning to driving function
CN106976368A (en) A kind of achievable independent suspension frame unit for turning to driving function
CN107176206A (en) The wheel steering component of motor vehicle with single-wheel transfer
CN109625088A (en) Vehicular turn rolls linkage mechanism and active roll vehicle
CN103448799A (en) Rear wheel toe angle variable vehicle
CN110509994A (en) Vehicular turn rolls the active roll vehicle of combined mechanism and the application mechanism
IT1190546B (en) SUSPENSION FOR WHEELS OF MOTORIZED AND NON-MOTORIZED VEHICLES
CN108622190A (en) A kind of security robot front-wheel steer chassis
CN110294035A (en) The vehicle of body roll driving mechanism and the application mechanism
CN201553197U (en) Vehicle stabilization system with multi-directional control function
CN104325857A (en) Mecanum wheel movement device

Legal Events

Date Code Title Description
C14 Grant of patent or utility model
GR01 Patent grant
CX01 Expiry of patent term
CX01 Expiry of patent term

Granted publication date: 20130731