CN203126947U - Drive-by-wire independent steering system of cable transmission five-connecting-rod suspension frame - Google Patents
Drive-by-wire independent steering system of cable transmission five-connecting-rod suspension frame Download PDFInfo
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- CN203126947U CN203126947U CN 201320081933 CN201320081933U CN203126947U CN 203126947 U CN203126947 U CN 203126947U CN 201320081933 CN201320081933 CN 201320081933 CN 201320081933 U CN201320081933 U CN 201320081933U CN 203126947 U CN203126947 U CN 203126947U
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- drag
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- wheel
- steering
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Abstract
The utility model discloses a drive-by-wire independent steering system of a cable transmission five-connecting-rod suspension frame. The system comprises a vehicle frame, wheels, an axle, a main pin, a suspension frame connecting rod guide mechanism, a steering motor, a reducer and a cable transmission mechanism. The system is characterized in that the main pin is of a two-main-pin structure, namely, the main pin comprises a primary main pin and an auxiliary main pin. The cable transmission mechanism adopts transfer power of the steering motor and the reducer through two cables, two cable belt wheels and two soft pipes to achieve steering of the wheels. The steering system has the advantages that by means of the two-main-pin structure and the cable transmission mechanism, additional steering caused by upward and downward jumping of the wheels is little enough or even is eliminated, and the steering system is large in wheel independent steering angle range, compact in structure, reliable in work, convenient to assemble and low in cost.
Description
Technical field
The utility model relates to the steering-by-wire vehicular field, particularly a kind of line traffic control independent steering system that adopts the drag-line transmission, is used for five link lever suspension forks.
Background technology
The conventional steering system passes to steered wheel by steering hardware with the handling maneuver of pilot control bearing circle, certain functional relation between interior foreign steamer corner when tie rod linkage guarantees to turn to simultaneously.Line traffic control independent steering system replaces original mechanical connection between bearing circle and the steered wheel with control signal, the handling maneuver of foreign steamer in being controlled independently by control signal separately.The advantage of line traffic control independent steering system is, by computer controlled, can realize each wheel flutter independent steering, and then improves manoevreability and the road-holding property of automobile.This system mainly by steering wheel assembly, turn to and carry out assembly and master controller is formed.Steering wheel assembly converts the intention that turns to of chaufeur to digital signal, passes to master controller; Accept the torque signals that master controller is sent here simultaneously, produce the bearing circle aligning torque, so that road feel information to be provided; Turn to actuating unit to accept the order of master controller, the control steered wheel rotates, and realizes the intention that turns to of chaufeur.
Five connecting-rod separated suspensions are widely used in the modern automobile because of its excellent performance, wire-controlled steering system is applied to this kind suspension will further improves the road-holding property of automobile, form the technology platform of five link lever suspension fork line traffic control independent steering systems.Electromechanical integration line traffic control independent steering gear system architecture scheme and control policy thereof are the gordian techniquies that realizes this technology platform.
The utility model content
Technical problem to be solved in the utility model is to provide a kind of drag-line transmission five link lever suspension fork line traffic control independent steering systems, can eliminate since the wheel bob causes additional turn to or make this additional turn to enough small.
In order to solve above technical matters, the utility model provides a kind of drag-line transmission five link lever suspension fork line traffic control independent steering systems, mainly comprise wheel and axletree, stub, suspension link guiding mechanism and steer motor and retarder and drag-line transmission device, described stub is two stub structure, i.e. stub and secondary stubs; The drag-line transmission device is by adopting two drag-lines, the form of two drag-line belt wheels and two flexible pipes, the power of transmission steer motor and retarder thereof, realization wheel steering.
Described pair of stub mechanism, be that the stub two ends respectively have a rotating hinge, stub is hinged by the secondary stub in these two rotating hinges and the suspension link guiding mechanism, and wherein to satisfy degree of freedom be 1 condition to the suspension link guiding mechanism, i.e. wheel bob degree of freedom.
Two drag-lines in the described drag-line transmission device pass flexible pipe respectively, and be fixed in the drag-line belt wheel race, and the flexible pipe both ends are fixed on secondary stub and the vehicle frame by hose clamp respectively, thereby transmission steering power, compensate additional the turning to that the drag-line elastic deformation brings by closed loop control method, causedly when making the wheel bob additional turn to enough smallly, even eliminate this additional turning to.
Wherein, wheel connects with axletree, and axletree and stub connect firmly, and the stub two ends respectively have a rotating hinge respectively, and stub is hinged by the secondary stub in rotating hinge and the suspension link guiding mechanism; Five ball pivots connect firmly respectively on secondary stub, and namely secondary stub is hinged with an end of five connecting rods respectively by these five ball pivots; The other end of these five connecting rods also is to be hinged with vehicle frame respectively by five ball pivots, five connecting rods of forming two stub structures turn to the suspension fork mechanism system, this train of mechanism satisfies two degree of freedom requirements, that is: one is the rotational freedom of main main pin axis, i.e. wheel steering; Another is the bob degree of freedom of suspension link guiding mechanism, the i.e. bob of wheel.Steer motor housing and vehicle frame connect firmly, motor reducer housing and vehicle frame connect firmly, motor reducer input end and steer motor axle connect firmly, motor reducer mouth and a drag-line belt wheel connect firmly, another drag-line belt wheel connects firmly on stub, two hose clamps are installed on the secondary stub in the guide link mechanism, two other hose clamp is fixed on the vehicle frame, two flexible pipes are installed in respectively between the hose clamp between secondary stub and the vehicle frame, two drag-lines pass the drag-line flexible pipe respectively, two ends are separately fixed at the race that is positioned at the drag-line belt wheel on stub and the motor reducer mouth, thereby no matter thataway rotates to realize steer motor, drag-line all is to haul the drag-line belt wheel rotation that is positioned on the stub, realizes turning to.Because stub and secondary stub are hinged by rotating hinge, do not have relative displacement between the two; Flexible pipe is fixed between vehicle frame and the stub, during the wheel bob, because flexible pipe and drag-line are flexible structures, can avoid the additional generation that turns to.Thereby solved the interference problem that turns to of conventional steering system, improved vehicle handling and stability.Simultaneously, when practical application drag-line steering-by-wire, because drag-line has elasticity, can produce elastic deformation when turning to, during high vehicle speeds, may cause to turn to instability, need to introduce servo stiffness here and address this problem.Servo stiffness herein is by sensor and gathers steering angle, if because the drag-line distortion, make the instruction of steering angle and steering wheel angle inconsistent, then rotate by motor, compensation steering angle deviation, form a closed loop control, thereby guarantee that deflection angle in strict accordance with the instruction of steering handwheel angle, guarantees the turning efficiency of automobile.
The beneficial effects of the utility model are:
1) can eliminate fully since the wheel bob causes additional turn to or make this additional turn to enough small, and mechanism design, make with assemble easy;
2) the utility model is applied to four-wheel steering automobile, is convenient to make front and back wheel to adopt identical independent suspension-wheel flutter modular construction, thereby reduces the key components and parts kind significantly, reduce the mass manufacturing cost;
3) have that wheel independent steering angular range is big, compact conformation, reliable operation, advantage easy to assembly, with low cost.
Description of drawings
Fig. 1 is the utility model drag-line transmission five link lever suspension fork line traffic control independent steering systematic schematic diagrams;
The number in the figure explanation:
0-vehicle frame;
1-wheel and axletree;
101-wheel; 102-axletree;
2-stub;
201-stub; 20A-rotating hinge;
20B-rotating hinge;
3-suspension link mechanism;
301-connecting rod; 302-connecting rod;
303-secondary stub; 304-connecting rod;
305-connecting rod; 306-connecting rod;
30A-ball pivot; 30B-ball pivot;
30C-ball pivot; 30D-ball pivot;
30E-ball pivot; 30F-ball pivot;
30G-ball pivot; 30H-ball pivot;
30I-ball pivot; 30J-ball pivot;
4-steer motor and retarder;
401-steer motor; 402-motor reducer;
5-drag-line transmission device;
501-drag-line; 502-drag-line belt wheel;
503-drag-line; 504-hose clamp;
505-hose clamp; 506-flexible pipe;
507-flexible pipe; 508-drag-line belt wheel;
509-hose clamp; 510-hose clamp.
The specific embodiment
See also shown in the accompanying drawing, the utility model is described specifically.
As shown in Figure 1, the utility model provides a kind of drag-line transmission five link lever suspension fork line traffic control independent steering systems, mainly comprises vehicle frame 0, wheel and axletree 1, stub 2, suspension link guiding mechanism 3, steer motor and retarder 4 and drag-line transmission device 5; Wherein wheel and axletree 1 comprise wheel 101 and axletree 102; Stub 2 comprises stub 201 and rotating hinge 20A, 20B; Suspension link guiding mechanism 3 comprises connecting rod 301,302,304,305,306, secondary stub 303, ball pivot 30A, 30B, 30C, 30D, 30E, 30F, 30G, 30H, 30I, 30J; Steer motor and retarder 4 comprise steer motor 401 and motor reducer 402; Drag-line transmission device 5 comprises drag-line 501,503, drag-line belt wheel 502,508, flexible pipe 506,507, hose clamp 504,505,509,510.
Wheel 101 connects with axletree 102, axletree 102 connects firmly with stub 201, stub 201 two ends are each and rotating hinge 20A respectively, the bearing pin of 20B connects firmly, secondary stub 303 in rotating hinge 20A, 20B shell and the suspension link guiding mechanism 3 connects firmly, and namely stub 201 is hinged by the secondary stub 303 in rotating hinge 20A, 20B and the suspension link guiding mechanism 3; The housing of ball pivot 30A, 30B, 30C, 30D, 30E connects firmly respectively on secondary stub 303, the rod end of ball pivot 30A, 30B, 30C, 30D, 30E connects firmly with connecting rod 304,306,301,302, an end of 305 respectively, and namely secondary stub 303 is hinged by ball pivot 30A, 30B, 30C, 30D, 30E and connecting rod 304,306,301,302, an end solid phase of 305 respectively; Connecting rod 304,306,301,302,305 the other end connect firmly with ball pivot 30F, 30G, 30H, 30I, 30J respectively, simultaneously ball pivot 30F, 30G, 30H, 30I, 30J connect firmly with vehicle frame 0 respectively again, and namely connecting rod 304,306,301,302,305 the other end are hinged by ball pivot 30F, 30G, 30H, 30I, 30J and vehicle frame 0 respectively; Form a cover five connecting rod independent steering suspensions.By mechanism principle figure as can be known, this independent suspension has 10 ball pivots, 2 rotating hinges, and 4 connecting rod sealed joints, 5 isolated degree of freedom, then this turns to the degree of freedom of suspension to be by calculating acquisition:
F=3×10+1×1-6×4-1×5=2
Get final product to such an extent that this suspension system has two degree of freedom, one is the rotation along stub 201 axis, i.e. wheel steering; Another is the bob of suspension link guiding mechanism 3, i.e. the bob of wheel.
Steer motor 401 housings and vehicle frame 0 connect firmly; Motor reducer 402 housings and vehicle frame 0 connect firmly, 401 of motor reducer 402 input ends and steer motor connect firmly, motor reducer 402 mouths and drag-line belt wheel 502 connect firmly, drag-line belt wheel 508 connects firmly on stub 201, hose clamp 510, on the 509 secondary stubs 303 that are installed in the suspension link guiding mechanism 3, hose clamp 504,505 are fixed on the vehicle frame, flexible pipe 506,507 are installed in the hose clamp 510 between secondary stub 303 and vehicle frame 0 respectively, between 505 and hose clamp 509, between 505, drag-line 501,503 pass flexible pipe 506 respectively, 507, two ends are separately fixed at the drag-line belt wheel 508 that is positioned on stub 201 and motor reducer 402 mouths, in 502 the race, thereby no matter thataway rotates to realize steer motor 401, drag-line 501 and 503 all is to haul drag-line belt wheel 508 rotations that are positioned on the stub 201, realizes turning to.Because stub 201 and secondary stub 303 are hinged by rotating hinge 20A, 20B, between the two when the wheel bob, no relative displacement, flexible pipe 506,507 is fixed between vehicle frame 0 and the secondary stub 303, during wheel 101 bobs, because flexible pipe 506,507 and drag-line 501,503 flexible structure, can avoid the additional generation that turns to, thereby what remedied the conventional steering system turns to the interference problem, has improved vehicle handling and stability.
Embodiment of the present utility model is applied to four-wheel steering automobile, can adopt four identical in structure independent suspension-steering modules.Wherein, stub 201 two ends of five link lever suspension fork guiding mechanisms are hinged by rotating hinge 20A, 20B and secondary stub 303 respectively, and stub 201 is turned to around its axis; Simultaneously because because flexible pipe 506,507 and drag-line 501,503 flexible structure, make the bob of wheel 101 relative vehicle frames 0 will can not cause that the additional rotation of the additional rotation of stub 201 or generation is enough small.When turning to, the intention that turns to of chaufeur is passed to steer motor 401 by master controller, the steering torque of steer motor 401 turns to execution flower wheel 508 by the drag-line transmission after amplifying through motor reducer 402, makes wheel 101 produce the action of rotating around stub 201.By turning to the real-time monitoring wheel corner of rotary angle transmitter on the stub 201 whether to reach anticipated value, the angular errors of wheel flutter is constantly fed back to the controller of servomotor, revise handling maneuver, finally reach the wheel steering angle of expectation, finish handling maneuver.
Claims (3)
1. drag-line transmission five link lever suspension fork line traffic control independent steering systems, comprise vehicle frame, wheel and axletree, stub, suspension link guiding mechanism, steer motor and retarder and drag-line transmission device, it is characterized in that: described stub is two stub structure, i.e. stub and secondary stubs; The drag-line transmission device is by adopting two drag-lines, the form of two drag-line belt wheels and two flexible pipes, the power of transmission steer motor and retarder thereof, realization wheel steering.
2. according to the described drag-line transmission of claims 1 five link lever suspension fork line traffic control independent steering systems, it is characterized in that: described pair of stub mechanism, be that the stub two ends respectively have a rotating hinge, stub is hinged by the secondary stub in these two rotating hinges and the suspension link guiding mechanism, wherein to satisfy degree of freedom be 1 condition to the suspension link guiding mechanism, i.e. wheel bob degree of freedom.
3. according to the described drag-line transmission of claims 1 five link lever suspension fork line traffic control independent steering systems, it is characterized in that: two drag-lines in the described drag-line transmission device pass flexible pipe respectively, and be fixed in the drag-line belt wheel race, and the flexible pipe both ends are fixed on secondary stub and the vehicle frame by hose clamp respectively, thereby transmission steering power, compensate additional the turning to that the drag-line elastic deformation brings by closed loop control method, causedly when making the wheel bob additional turn to enough smallly, even eliminate this additional turning to.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320081933 CN203126947U (en) | 2013-02-22 | 2013-02-22 | Drive-by-wire independent steering system of cable transmission five-connecting-rod suspension frame |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320081933 CN203126947U (en) | 2013-02-22 | 2013-02-22 | Drive-by-wire independent steering system of cable transmission five-connecting-rod suspension frame |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203126947U true CN203126947U (en) | 2013-08-14 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201320081933 Expired - Fee Related CN203126947U (en) | 2013-02-22 | 2013-02-22 | Drive-by-wire independent steering system of cable transmission five-connecting-rod suspension frame |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203126947U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103112493A (en) * | 2013-02-22 | 2013-05-22 | 同济大学 | Cable-driven steer-by-wire mechanism system for independent suspensions |
-
2013
- 2013-02-22 CN CN 201320081933 patent/CN203126947U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103112493A (en) * | 2013-02-22 | 2013-05-22 | 同济大学 | Cable-driven steer-by-wire mechanism system for independent suspensions |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130814 Termination date: 20160222 |