CN205292782U - Pirouette turns to device to reaching in -wheel motor electric automobile who transversely traveles - Google Patents

Pirouette turns to device to reaching in -wheel motor electric automobile who transversely traveles Download PDF

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Publication number
CN205292782U
CN205292782U CN201521090604.6U CN201521090604U CN205292782U CN 205292782 U CN205292782 U CN 205292782U CN 201521090604 U CN201521090604 U CN 201521090604U CN 205292782 U CN205292782 U CN 205292782U
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CN
China
Prior art keywords
gear
wheel
steering
travelling gear
travelling
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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 - Fee Related
Application number
CN201521090604.6U
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Chinese (zh)
Inventor
严运兵
郑志阳
陈涛
沈琪
叶刚
钱能
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.)
Wuhan University of Science and Engineering WUSE
Wuhan University of Science and Technology WHUST
Original Assignee
Wuhan University of Science and Engineering WUSE
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Publication date
Application filed by Wuhan University of Science and Engineering WUSE filed Critical Wuhan University of Science and Engineering WUSE
Priority to CN201521090604.6U priority Critical patent/CN205292782U/en
Application granted granted Critical
Publication of CN205292782U publication Critical patent/CN205292782U/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

The utility model provides a pirouette turns to device to reaching in -wheel motor electric automobile who transversely traveles, includes the steering mechanism of frame (1), steering wheel (2), wheel (3), in -wheel motor (4) and changeable power transmission, the rotor of in -wheel motor (4) and the rim fixed connection of wheel (3), the stator and knuckle (5) the fixed connection of in -wheel motor (4), knuckle (5) are connected with frame (1) through suspension system (6), wheel (3) are accomplished through the steering mechanism who links to each other with knuckle (5) and are turned to the motion, steering mechanism is including front wheel steering mechanism and rear wheel steering mechanism. Adopt the utility model discloses an electric automobile can not only realize travel and the turn motion the same with the orthodox car, can realize as required moreover pirouette to the peculair motion with transversely traveling, the flexibility that turns to that has improved the vehicle, make park and reverse end for end to wait operate simpler.

Description

A kind of wheel hub motor electric automobile steering device of pivot stud and cross running
Technical field
This utility model relates to electric vehicle engineering field, relates in particular to the wheel hub motor electric automobile steering device of a kind of pivot stud and cross running.
Background technology
The common challenge that energy shortage, environmental pollution, climate warming are Global Auto and energy industry faces, the energy-conservation developing direction having become every country auto industry future with new-energy automobile, and electric automobile is as one of the Main way of future development, being subject to the great attention of every country, the electric automobile wherein directly driven with wheel hub motor is the most potential in electric vehicle engineering.
The problems such as at present, orthodox car is owing to turning to the existence of cross bar, and deflecting roller can only realize-35 �� to 35 �� turn to, and there is side shut-down operation difficulty, and required space of parking is big and tune radius is big, are unfavorable for urban transportation.
Summary of the invention
The purpose of this utility model is the deficiency overcoming prior art to exist, it is provided that the wheel hub motor electric automobile steering device of a kind of pivot stud and cross running.
The wheel hub motor electric automobile steering device of a kind of pivot stud of this utility model and cross running, including the steering mechanism of vehicle frame 1, steering wheel 2, wheel 3, wheel hub motor 4 and changeable power transmission; The rotor of wheel hub motor 4 is fixing with the wheel rim of wheel 3 to be connected, and the stator of wheel hub motor 4 is fixing with knuckle 5 to be connected, and knuckle 5 is connected with vehicle frame 1 by suspension system 6; Wheel 3 completes divertical motion by the steering mechanism being connected with knuckle 5.
Described steering mechanism, including foresteerage gear and rear-axle steering mechanism;
Described foresteerage gear, including steering spindle 7, assist motor 8 with turn to little gear 9; Steering spindle 7 is arranged on steering wheel 2 centre bore, and torque sensor is arranged on steering spindle 7 top, and assist motor 8 is arranged in the middle part of steering spindle 7, turns to little gear 9 to be arranged on the end of steering spindle 7; Turn to little gear 9 the right and left that one gear train is respectively set, two gear trains are meshed with the steering rack 10 in vehicle frame 1 guide groove, track rod 11 the inner is connected with steering rack 10 outer end each through ball stud, and track rod 11 outer end is connected each through the knuckle arm of ball stud with knuckle 5;
The described gear train turned on the right of little gear 9, including the first gear shaft 12A, the second gear shaft 12B, the 3rd gear shaft 12C, three rooted tooth wheel shafts are installed in parallel on vehicle frame 1 by needle bearing, first travelling gear 13A is fixedly mounted on the first gear shaft 12A, second travelling gear 13B, the 3rd travelling gear 13C empty set are on the first gear shaft 12A, joint gear ring 14 is installed between second travelling gear 13B, the 3rd travelling gear 13C, engages gear ring 14 and be connected with the first gear shaft 12A spline; Second gear shaft 12B is provided with the 5th travelling gear 13E; 3rd gear shaft 12C is provided with the 4th travelling gear 13D and the six travelling gear 13F; Described turning to little gear 9 to be meshed with the 6th travelling gear 13F, the 6th travelling gear 13F and the five travelling gear 13E is meshed then, and the 5th travelling gear 13E and the three travelling gear 13C is meshed then;
The described gear train turning to little gear 9 left side, including the 4th gear shaft 12D, 4th gear shaft 12D is arranged on vehicle frame 1 by needle bearing, and the 7th travelling gear 13G, the 8th travelling gear 13H are fixedly mounted on the 4th gear shaft 12D, and the 7th travelling gear 13G is meshed with turning to little gear 9.
Described rear-axle steering mechanism, including the steer motor 15 with decelerator being arranged on vehicle frame 1, steer motor 15 output shaft is provided with driving gear 16, gear 16 is driven to be meshed with the steering rack 10 in vehicle frame guide groove, the outer end of steering rack 10 is connected with track rod 11 the inner by ball stud, and the outer end of track rod 11 is connected with the knuckle arm of knuckle 5 by ball stud.
Compared with prior art, the beneficial effects of the utility model are in that: adopt electric automobile of the present utility model can not only realize the traveling the same with orthodox car and turning motion, and the peculair motion of pivot stud and cross running can be realized as required, improve the steering flexibility of vehicle, make to park and the operation such as tune is simpler.
Accompanying drawing explanation
Fig. 1 is overall structure schematic diagram of the present utility model;
Fig. 2 is the structural representation of foresteerage gear;
Fig. 3 is the principle schematic that this utility model realizes pivot stud;
Fig. 4 is the principle schematic that this utility model realizes cross running.
In figure, 1 is vehicle frame, 2 is steering wheel, 3 is wheel, 4 is wheel hub motor, and 5 is knuckle, and 6 is suspension system, 7 is steering spindle, 8 is assist motor, and 9 for turning to little gear, and 10 is steering rack, 11 is track rod, 12A, 12B, 12C, 12D are first, second, third, fourth gear shaft, and 13A, 13B, 13C, 13D, 13E, 13F, 13G, 13H are first, second, third, fourth, the five, the six, the seven, the 8th travelling gears, and 14 for engaging gear ring, 15 is steer motor, and 16 for driving gear.
Detailed description of the invention
Below in conjunction with accompanying drawing, this utility model is further described. As Figure 1-Figure 4, a kind of wheel hub motor electric automobile steering device of pivot stud and cross running, including vehicle frame 1, steering wheel 2, wheel 3, the rotor of wheel hub motor 4 is fixing with the wheel rim of wheel 3 to be connected, the stator of wheel hub motor 4 is fixing with knuckle 5 to be connected, and knuckle 5 is connected with vehicle frame 1 by suspension system 6; Wheel 3 completes divertical motion by the steering mechanism being connected with knuckle 5.
Consisting of of foresteerage gear: steering spindle 7 is arranged on steering wheel 2 centre bore, torque sensor is arranged on steering spindle 7 top, assist motor 8 is arranged in the middle part of steering spindle 7, little gear 9 is turned to be arranged on the end of steering spindle 7, little gear 9 the right and left is turned to engage two groups of gears respectively, described gear train engages with the steering rack 10 in vehicle frame 1 guide groove, track rod 11 the inner is connected with steering rack 10 outer end each through ball stud, and track rod 11 outer end is connected each through the knuckle arm of ball stud with knuckle 5;The gear train on described the right includes the first gear shaft 12A, the second gear shaft 12B, the 3rd gear shaft 12C, three rooted tooth wheel shafts are installed in parallel on vehicle frame 1 by needle bearing, first travelling gear 13A is fixedly mounted on the first gear shaft 12A, second travelling gear 13B, the 3rd travelling gear 13C empty set are on the first gear shaft 12A, joint gear ring 14 is installed between second travelling gear 13B, the 3rd travelling gear 13C, engages gear ring 14 and be connected with the first gear shaft 12A spline; The gear train on the described left side includes a 4th gear shaft 12D, and the 4th gear shaft 12D is arranged on vehicle frame 1 by needle bearing, and the 7th travelling gear 13G, the 8th travelling gear 13H are fixedly mounted on the 4th gear shaft 12D.
Rear-axle steering mechanism consists of: be arranged on the steer motor 15 with decelerator on vehicle frame 1, steer motor 15 output shaft is provided with driving gear 16, gear 16 is driven to engage with the steering rack 10 in vehicle frame guide groove, the outer end of steering rack 10 is connected with track rod 11 the inner by ball stud, and the outer end of track rod 11 is connected with the knuckle arm of knuckle 5 by ball stud.
Of the present utility model turn to pattern to include routine to turn to pattern, pivot stud pattern, cross running pattern.
Under routine turns to pattern, control to engage gear ring 14 and be moved rearwards by, make joint gear ring 14 engage with the 3rd travelling gear 13C; Now, the power of little gear 9 is turned to make the direction of rotation of the 3rd travelling gear 13C contrary with the direction of rotation turning to little gear 9 by the 6th travelling gear 13F, the 5th travelling gear 13E, the power of the 3rd travelling gear 13C makes the first travelling gear 13A rotate by engaging gear ring the 14, first gear shaft 12A, and then drives steering rack 10 to do rectilinear motion; Driver turn steering wheel 2 drives and turns to little gear 9 to rotate, and turns to little gear 9 to drive two groups of gears of left and right engagement to rotate; Two, the left and right steering rack 10 of described left and right gear set drive engagement does equidirectional rectilinear motion, and steering rack 10 drives left and right turn drag link 11 to move, thus completing the course changing control of two front-wheels; Central control system receives and analyzes the signal of torque sensor simultaneously, controls assist motor 8 and promotes steering spindle 7 to rotate, it is achieved power steering function; Now two independent steering motors 15 of trailing wheel are in the lock state.
Under pivot stud pattern, control to engage gear ring 14 and move forward, make joint gear ring 14 engage with the second travelling gear 13B; Now, the power of little gear 9 is turned to make the direction of rotation of the second travelling gear 13B identical with the direction of rotation turning to little gear 9 by the 6th travelling gear 13F, the 4th travelling gear 13D, the power of the second travelling gear 13B makes the first travelling gear 13A rotate by engaging gear ring the 14, first gear shaft 12A, and then drives steering rack 10 to do rectilinear motion; Driver turn steering wheel 2 drives and turns to little gear 9 to rotate, little gear 9 is turned to drive two groups of gears of left and right engagement to rotate, two, the left and right steering rack 10 of described left and right gear set drive engagement does reciprocal rectilinear motion, steering rack 10 drives left and right turn drag link 11 to move, make each wheel complete steering angle be ��=arctanL/d turn to (wherein L represents vehicle wheelbase, and d represents car gage); Central control system to complete left-handed or dextrorotation control command according to driver, controls each wheel hub motor and rotates by corresponding direction and make vehicle realize pivot stud; When vehicle carries out dextrorotation pivot stud, otherwise the direction of rotation of each wheel is as it is shown on figure 3, then can carry out left-handed pivot stud.
Under cross running pattern, control to engage gear ring 14 and move forward, make joint gear ring 14 engage with the second gear 13B; Driver turn steering wheel 2 drives and turns to little gear 9 to rotate, little gear 9 is turned to drive two groups of gears of left and right engagement to rotate, two, the left and right steering rack 10 of described left and right gear set drive engagement does reciprocal rectilinear motion, steering rack 10 drives left and right turn drag link 11 to move, and making each wheel complete steering angle is 90 �� turn to; Central control system to complete the order moving to left or moving to right according to driver, controls each wheel hub motor and rotates by corresponding direction and make vehicle realize cross running to the left or to the right; When vehicle carries out cross running to the right, the direction of rotation of each wheel as shown in Figure 4, otherwise then can carry out cross running to the left.

Claims (3)

1. the wheel hub motor electric automobile steering device of a pivot stud and cross running, it is characterised in that: include the steering mechanism of vehicle frame (1), steering wheel (2), wheel (3), wheel hub motor (4) and the transmission of changeable power; The rotor of wheel hub motor (4) is fixing with the wheel rim of wheel (3) to be connected, the stator of wheel hub motor (4) is fixing with knuckle (5) to be connected, and knuckle (5) is connected with vehicle frame (1) by suspension system (6); Wheel (3) completes divertical motion by the steering mechanism being connected with knuckle (5); Described steering mechanism, including foresteerage gear and rear-axle steering mechanism.
2. transfer as claimed in claim 1, it is characterised in that: described foresteerage gear, including steering spindle (7), assist motor (8) with turn to little gear (9); Steering spindle (7) is arranged on steering wheel (2) centre bore, torque sensor is arranged on steering spindle (7) top, assist motor (8) is arranged on steering spindle (7) middle part, turns to little gear (9) to be arranged on the end of steering spindle (7); Turn to little gear (9) the right and left that one gear train is respectively set, two gear trains are meshed with the steering rack (10) in vehicle frame (1) guide groove, track rod (11) the inner is connected with steering rack (10) outer end each through ball stud, and track rod (11) outer end is connected each through the knuckle arm of ball stud with knuckle (5);
The described gear train turning to little gear (9) the right, including the first gear shaft (12A), second gear shaft (12B), 3rd gear shaft (12C), three rooted tooth wheel shafts are installed in parallel on vehicle frame (1) by needle bearing, first travelling gear (13A) is fixedly mounted on the first gear shaft (12A), second travelling gear (13B), 3rd travelling gear (13C) empty set is on the first gear shaft (12A), second travelling gear (13B), joint gear ring (14) is installed between the 3rd travelling gear (13C), engage gear ring (14) to be connected with spline with the first gear shaft (12A), second gear shaft (12B) is provided with the 5th travelling gear (13E), 3rd gear shaft (12C) is provided with the 4th travelling gear (13D) and the 6th travelling gear (13F), described little gear (9) is turned to be meshed with the 6th travelling gear (13F), then the 6th travelling gear (13F) is meshed with the 5th travelling gear (13E), and the 5th travelling gear (13E) is meshed with the 3rd travelling gear (13C) then,
The described gear train turning to little gear (9) left side, including the 4th gear shaft (12D), 4th gear shaft (12D) is arranged on vehicle frame (1) by needle bearing, 7th travelling gear (13G), the 8th travelling gear (13H) are fixedly mounted on the 4th gear shaft (12D), and the 7th travelling gear (13G) is meshed with turning to little gear (9).
3. transfer as claimed in claim 1, it is characterized in that: described rear-axle steering mechanism, including the steer motor (15) with decelerator being arranged on vehicle frame (1), steer motor (15) output shaft is provided with driving gear (16), gear (16) is driven to be meshed with the steering rack (10) in vehicle frame guide groove, the outer end of steering rack (10) is connected with track rod (11) the inner by ball stud, and the outer end of track rod (11) is connected with the knuckle arm of knuckle (5) by ball stud.
CN201521090604.6U 2015-12-24 2015-12-24 Pirouette turns to device to reaching in -wheel motor electric automobile who transversely traveles Expired - Fee Related CN205292782U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201521090604.6U CN205292782U (en) 2015-12-24 2015-12-24 Pirouette turns to device to reaching in -wheel motor electric automobile who transversely traveles

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201521090604.6U CN205292782U (en) 2015-12-24 2015-12-24 Pirouette turns to device to reaching in -wheel motor electric automobile who transversely traveles

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CN205292782U true CN205292782U (en) 2016-06-08

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Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106639443A (en) * 2016-09-12 2017-05-10 南通大学 Omni-directional-driving steering automated guided vehicle (AGV)
CN107444516A (en) * 2017-07-26 2017-12-08 昆明理工大学 A kind of 360 degree of four-wheel drive robot ambulation steering mechanism
CN107554495A (en) * 2017-09-14 2018-01-09 安徽工程大学 Vehicle chassis
CN107933688A (en) * 2017-12-08 2018-04-20 徐工集团工程机械有限公司 A kind of narrow and small region emergency rescue fire vehicle
CN108045433A (en) * 2017-12-19 2018-05-18 重庆卡迪研科技有限公司 A kind of wheeled robot
CN108163047A (en) * 2018-01-21 2018-06-15 谢辽东 A kind of wheel steering system and the vehicle using the system
CN109263717A (en) * 2018-11-19 2019-01-25 吉林大学 A kind of multi-mode steering-by-wire automobile and its rotating direction control method
CN110641329A (en) * 2019-10-09 2020-01-03 浙江感恩科技股份有限公司 Integrated telescoping device around children's safety seat ISOFIX
CN110654447A (en) * 2019-09-25 2020-01-07 南京航空航天大学 Multi-mode steering mechanism and method for wheel hub motor distributed electric drive automobile
CN110654448A (en) * 2019-09-25 2020-01-07 南京航空航天大学 Hub motor distributed type electrically-driven automobile multifunctional steering mechanism and method thereof
CN110723195A (en) * 2019-09-25 2020-01-24 南京航空航天大学 Hub motor distributed electric drive automobile steering device and steering method thereof
KR20210097055A (en) * 2020-01-29 2021-08-06 군산대학교산학협력단 Vehicle wheel steering system for rotating in place

Cited By (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106639443A (en) * 2016-09-12 2017-05-10 南通大学 Omni-directional-driving steering automated guided vehicle (AGV)
CN106639443B (en) * 2016-09-12 2019-02-22 南通大学 A kind of AGV trolley that omni-directional drive turns to
CN107444516A (en) * 2017-07-26 2017-12-08 昆明理工大学 A kind of 360 degree of four-wheel drive robot ambulation steering mechanism
CN107444516B (en) * 2017-07-26 2023-06-13 昆明理工大学 360-degree four-wheel drive robot walking steering mechanism
CN107554495A (en) * 2017-09-14 2018-01-09 安徽工程大学 Vehicle chassis
CN107933688A (en) * 2017-12-08 2018-04-20 徐工集团工程机械有限公司 A kind of narrow and small region emergency rescue fire vehicle
CN108045433A (en) * 2017-12-19 2018-05-18 重庆卡迪研科技有限公司 A kind of wheeled robot
CN108163047A (en) * 2018-01-21 2018-06-15 谢辽东 A kind of wheel steering system and the vehicle using the system
CN109263717A (en) * 2018-11-19 2019-01-25 吉林大学 A kind of multi-mode steering-by-wire automobile and its rotating direction control method
CN110654447A (en) * 2019-09-25 2020-01-07 南京航空航天大学 Multi-mode steering mechanism and method for wheel hub motor distributed electric drive automobile
CN110654448A (en) * 2019-09-25 2020-01-07 南京航空航天大学 Hub motor distributed type electrically-driven automobile multifunctional steering mechanism and method thereof
CN110723195A (en) * 2019-09-25 2020-01-24 南京航空航天大学 Hub motor distributed electric drive automobile steering device and steering method thereof
CN110723195B (en) * 2019-09-25 2023-08-01 南京航空航天大学 Distributed electric drive automobile steering device with hub motor and steering method thereof
CN110654448B (en) * 2019-09-25 2023-07-25 南京航空航天大学 Multifunctional steering mechanism of hub motor distributed electric drive automobile and method thereof
CN110654447B (en) * 2019-09-25 2023-05-26 南京航空航天大学 Multi-mode steering mechanism of hub motor distributed electric drive automobile and method thereof
CN110641329A (en) * 2019-10-09 2020-01-03 浙江感恩科技股份有限公司 Integrated telescoping device around children's safety seat ISOFIX
KR102497293B1 (en) 2020-01-29 2023-02-08 군산대학교산학협력단 Vehicle wheel steering system for rotating in place
KR20210097055A (en) * 2020-01-29 2021-08-06 군산대학교산학협력단 Vehicle wheel steering system for rotating in place

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CF01 Termination of patent right due to non-payment of annual fee
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Granted publication date: 20160608

Termination date: 20161224