CN205668589U - A kind of variable-angle actuating device, vehicle chassis - Google Patents

Abstract

This utility model relates to a kind of variable-angle actuating device, including power output shaft, power input shaft, fixed mount, swing span and power transmission；Described power input shaft passes to described power output shaft by described power transmission power, and then drives described wheel to rotate.This actuating device, is possible not only to transmit power, and can realize bigger deflection angle while transmission power, reliable；This utility model additionally provides a kind of vehicle chassis with above-mentioned variable-angle actuating device simultaneously, this vehicle chassis can realize cross running, four-wheel steering and the function such as rotate in place, and can improve high stability and the low-speed maneuverability of automobile, this utility model also provides for a kind of method turned to controlled under the different situation of above-mentioned vehicle chassis realization.

Description

A kind of variable-angle actuating device, vehicle chassis

Technical field

This utility model relates to Vehicle Engineering, particularly relates to a kind of variable-angle actuating device, further relates to a kind of car Chassis.

Background technology

Developing rapidly the raising with people's living standard along with modern society, automobile just increases sharply, but, along with vapour The substantial amounts of increase of car, the parking lot in each city, road all occur in that crowding phenomenon, current most of automobiles are all front-wheel steers (i.e. 2WS), but owing to trailing wheel is in stays, when turning to, the radius of turn of automobile is relatively big, to vast human pilot on narrow ground Turn to and park and bring inconvenience.The mode that prior art has the four wheels using simultaneous control of automobile to turn to makes automobile turn To, the eighties in last century, some automobile vendors once applied four-wheel steering technology (4WS).Along with the development of automotive engineering, Active safety is increasingly subject to pay attention to, and four-wheel steering is one of method improving active safety, the most existing four-wheel Car of turning direction trailing wheel can deflect by a small margin according to the signal such as front-wheel, road speed, and can deflect in the same direction with front-wheel can also Reversely deflection, when speed is higher, trailing wheel deflects in the same direction with front-wheel, and its effect makes automobile utilize trailing wheel less when turning to Deflection, reduces and breaks away, and improves control stability；When speed is relatively low, trailing wheel reversely deflects with front-wheel, reduces radius of turn, carries High automobile parking or the mobility turned at small space.But the trailing wheel deflection angle of current this four-wheel steering automobile is relatively Little, and owing to the limitation of universal joint cannot realize cross running.

In terms of the horizontal traveling of automobile, Chinese patent CN101298257B disclose a kind of electric automobile laterally advance and The rotating direction control method rotated in place and device, it is possible to achieve cross running, but the advance of its wheel is each by four wheels Completing equipped with a brushless DC hub-motor or pillar motor, rather than conventional vehicle list engine drives, structure is complicated, therefore Barrier point is many；Secondly, in this patent, although the cross running of wheel can be realized, but when laterally advancing, steering wheel is in locked State, cannot adjust in traveling, in real time not by manual control；Again, although four wheels can turn to, but and four-wheel steering (4WS) automobile different, can not improve high stability and the low-speed maneuverability of automobile.

Summary of the invention

Technical problem to be solved in the utility model is to provide a kind of variable-angle actuating device, this actuating device, no Only can transmit power, and bigger deflection angle can be realized while transmission power, reliable；This practicality simultaneously Novel additionally providing a kind of vehicle chassis with above-mentioned variable-angle actuating device, this vehicle chassis can realize lateral line Sail, four-wheel steering and the function such as rotate in place, and high stability and the low-speed maneuverability of automobile can be improved.

The technical scheme that this utility model solves above-mentioned technical problem is as follows: a kind of variable-angle actuating device, with existing Unlike technology, including power output shaft, power input shaft, fixed mount, swing span and power transmission；Described power is defeated Shaft rotates connection in being installed on described swing span, and wheel, the other end and institute are accessed in described power output shaft one end State power transmission to connect；Described power input shaft rotates connection, and described power in being installed on described fixed mount Power shaft one end is connected with dynamical system, and the other end is connected with described power transmission；Described swing span and described fixed mount Being rotationally connected, and its pivot center is vertical direction, described power transmission is connected at described fixed mount and described pendulum In moving frame；Described power input shaft passes to described power output shaft by described power transmission power, and then drives Described wheel rotates.

The beneficial effects of the utility model are: by power input shaft, power is accessed, and by power transmission handle Power passes to described power output shaft, realizes the transmission of power, simultaneously, because fixed mount and swing span can relatively rotate, Power input shaft is installed on fixed mount, and power output shaft is installed on swing span, and power output shaft connects wheel, so that it may to realize car Wheel turns in travelling, and whole device can make the angle of wheel steering increase, and overcomes the limitation of universal joint, and operation can Lean on.

On the basis of technique scheme, this utility model can also do following improvement.

Further, described power transmission includes the first bearing pin, the first bevel gear, the second bevel gear and triconodont Wheel, described first bevel gear is fixing with described power output shaft to be connected, and described second bevel gear is fixed with described power input shaft Connecting, described triconodont wheel is set in outside described first bearing pin, and described first bevel gear, described second bevel gear are equal It is connected with the engagement of described third hand tap gear；The rotation axis of described third hand tap gear and described fixed mount and the phase of described swing span The pivot center rotated is overlapped.

Further, described power transmission includes the 4th bevel gear, the 5th bevel gear, the 6th bevel gear, the 7th cone tooth Wheel, the first gear, the second gear, the 3rd gear, the second bearing pin, the 3rd bearing pin and the 4th bearing pin；Described 4th bevel gear and institute Stating that power output shaft is fixing to be connected, described 4th bevel gear engages with described 5th bevel gear, described 5th bevel gear and described First gear is all fixedly installed in described second bearing pin, and described second bearing pin is installed in described swing span, and fixing with described Frame and described swing span are rotatably connected, the rotation axis of described 5th bevel gear and described fixed mount and described swing span relative The pivot center rotated overlaps；Described 6th bevel gear is fixing with described power input shaft to be connected, described 6th bevel gear and institute Stating the 7th bevel gear engagement, described 7th bevel gear and described second gear are all fixedly installed in described 3rd bearing pin, and described the Three bearing pins are installed in described fixed mount；The 3rd jointly engaged with the two it is additionally provided with between described first gear and the second gear Gear, described 3rd gear is fixedly installed in described 4th bearing pin, and described 4th bearing pin is installed in described fixed mount, and with institute State fixed mount to be rotatably connected.

Further, described power transmission includes the 8th bevel gear, the 9th bevel gear, the tenth bevel gear, the 11st cone Gear and the 5th bearing pin；Described 8th bevel gear is fixing with described power output shaft to be connected, and nibbles with described 9th bevel gear simultaneously Close；Described tenth bevel gear is fixing with described power input shaft to be connected, and engages with described 11st bevel gear simultaneously；Described 9th Bevel gear and described 11st bevel gear are fixedly installed on described 5th bearing pin, and described 5th bearing pin is installed on described fixed mount And in described swing span, and be rotatably connected with the two, the rotation axis of described 9th bevel gear and the 11st bevel gear is with described The pivot center in relative rotation of fixed mount and described swing span overlaps.

Above-mentioned three kinds of further schemes are used to provide the benefit that, by the intermeshing transmission side of gear or bevel gear Formula, is delivered to power output shaft power from power power shaft, and then drives wheel to rotate, and structure is simpler and compact, and And running more reliable and more stable, bearing capacity is high, and the life-span is higher.

This utility model additionally provides a kind of vehicle chassis, including vehicle bridge, wheel, dynamical system and steering wheel, with existing Unlike technology, also including that any of the above-described kind of variable-angle actuating device, described variable-angle actuating device are four, it moves Power output shaft is connected with the described wheel of row before and after vehicle respectively, and power input shaft is connected with described dynamical system respectively.

The beneficial effects of the utility model are: by the use of four above-mentioned variable-angle actuating devices, it is possible to achieve car Cross running, four-wheel steering and the function such as rotate in place, and owing to this variable-angle actuating device has above-mentioned having Benefit technique effect, a kind of automobile provided by the utility model also has corresponding technique effect.

On the basis of technique scheme, this utility model can also do following improvement.

Further, described dynamical system includes that power source, the first differential mechanism, final drive shaft, the second differential mechanism and the 3rd are poor Speed device, described second differential mechanism be located at front row two described variable-angle actuating devices between, described 3rd differential mechanism is located at Between two described variable-angle actuating devices of heel row, described first differential mechanism is located at described second differential mechanism and the 3rd differential Between device, described power source is connected with described first differential drive, described first differential mechanism by final drive shaft respectively with institute Stating the second differential mechanism and the 3rd differential drive connects, described second differential mechanism passes with two front-seat described variable-angles simultaneously The described power input shaft of dynamic device is in transmission connection, with the two of heel row described variable-angle transmissions while of described 3rd differential mechanism The described power input shaft of device is in transmission connection.

Using above-mentioned further scheme to provide the benefit that, being located at by described second differential mechanism can described in two of front row Between varied angle actuating device, described 3rd differential mechanism is located between two described variable-angle actuating devices of heel row, described First differential mechanism is located between described second differential mechanism and the 3rd differential mechanism, can be the output power of power source by described the One differential mechanism passes to the second differential mechanism and the 3rd differential mechanism, is delivered separately to four wheels of front and rear row the most again, it is achieved that Four the most dynamic drivings of wheel, namely four-wheel drive, and when laterally advancing, 4 wheel driven is more stable.

Further, retractor device, steering arm and connecting rod are also included；Described retractor device is two, is respectively arranged in front row Two described variable-angle actuating devices and two described variable-angle actuating devices of heel row between, described retractor device bag Including middle canned paragraph and telescopic section, described middle canned paragraph is fixing with described vehicle bridge to be connected, and described telescopic section is placed in described centre In canned paragraph, and two ends all stretch out in described middle canned paragraph, and described telescopic section can be moved left and right in described middle canned paragraph Dynamic；Described connecting rod is four；Described steering arm is four, and one end of four described steering arms respectively one_to_one corresponding and four Described swing span in described variable-angle actuating device is fixing to be connected, the other end respectively with its described company one to one One end of bar is hinged, and the other end of described connecting rod is hinged with nearest one end of the described retractor device of corresponding row.

Above-mentioned further scheme is used to provide the benefit that, by retractor device, steering arm and the setting of connecting rod, Ke Yitong Time or control the turning to and angle of front and rear row wheel respectively；And described retractor device is that two ends all stretch out in described centre and fix Section, namely double acting is flexible, can control turning to two wheels arranged simultaneously.

Further, the setting angle of described four steering arms is identical, the parallel installation of left and right turn arm of same vehicle bridge, and It it is 5 degree to 40 degree with the angle in the craspedodrome direction of automobile.

Above-mentioned further scheme is used to provide the benefit that, it is possible to achieve wheel left steering 45 degree, right turn 90 degree, and Eliminate steering link dead point.

Using above-mentioned further scheme to provide the benefit that, four wheels turn to the most to the right 90 degree, then can realize wheel Cross running, if trailing wheel does not turns to, front-wheel turn 90 degrees the most partially, then can realize rotating in place.

Further, described retractor device is hydraulic cylinder, and described hydraulic cylinder is double outlet-rod hydraulic cylinders, is positioned at the institute at front row Stating the retractor device between variable-angle actuating device is front oil cylinder, between the described variable-angle actuating device of heel row Retractor device is rear oil cylinder, and double rods of described front oil cylinder one_to_one corresponding respectively is connected with two front-seat connecting rods, described rear oil Double rods of cylinder one_to_one corresponding respectively is connected with two connecting rods of heel row.

Use above-mentioned further scheme to provide the benefit that, can make to turn to by the mode of hydraulic cylinder more steady, simultaneously Operate more laborsaving, be greatly improved handling.

Further, also include that hydraulic steering system, described front oil cylinder and described rear oil cylinder all access described liquid by pipeline Pressure steering, described hydraulic steering system controls the left and right of described front oil cylinder and described rear oil cylinder and stretches, and then drives described Wheel steering.

Above-mentioned further scheme is used to provide the benefit that, by the control of described hydraulic steering system, it is possible to achieve right The accurate control of oil cylinder front and back, to meet the various demand turned to, and improves handling and safety and stability performance further.

Further, described hydraulic steering system also includes that oil pump, fuel tank, hydraulic steering gear, overflow valve, the first electromagnetism are unidirectional Valve group, the second electromagnetism check valve group, the first two position, three-way electromagnetic change valve, the second two position, three-way electromagnetic change valve, the first shunting Valve, the second flow divider and two-position four-way solenoid directional control valve；Described first electromagnetism check valve group and described second electromagnetism check valve group Composed in parallel by a check valve and one bi-bit bi-pass solenoid directional control valve open in usual；On described hydraulic steering gear, there is oil suction Mouth, oil return opening and left steering interface and right turn interface；The inlet port phase of the oil-out of described oil pump and described hydraulic steering gear Even, and on the pipeline between oil-out and the inlet port of described hydraulic steering gear connecting described oil pump, access overflow valve, And described fuel tank is connected with the oil return opening of described hydraulic steering gear, described hydraulic steering gear is connected with described steering wheel；A described left side Interface is turned to be sequentially connected with described first electromagnetism check valve group, the first two position, three-way electromagnetic change valve, then by the described 1st The A mouth of position three-way solenoid valve accesses the right side access port of described front oil cylinder；Described right turn interface is sequentially connected with described Two electromagnetism check valve groups, the second two position, three-way electromagnetic change valve, then connect by the A mouth of described second two position, three-way electromagnetic change valve Enter the left side access port of described front oil cylinder；The access port of described first flow divider and described first two position, three-way electromagnetic change valve B mouth connects, described first flow divider shunting two-way, and the right side access port of described front oil cylinder is accessed on a road, and another road is accessed described The P mouth of two-position four-way solenoid directional control valve, then connect by the right side of the A mouth described rear oil cylinder of access of described two-position four-way solenoid directional control valve Entrance；The access port of described second flow divider is connected with the B mouth of described second two position, three-way electromagnetic change valve, described second shunting Valve shunting two-way, the left side access port of a described front oil cylinder of road access, described two-position four-way solenoid directional control valve is accessed on another road T mouth, then the left side access port of described rear oil cylinder is accessed by the B mouth of described two-position four-way solenoid directional control valve.

Use above-mentioned further scheme to provide the benefit that, be connected with described steering wheel by described hydraulic steering gear, make Human pilot by the rotation of steering wheel, can control the oil circuit of hydraulic steering gear easily and flow to, and then oil cylinder before and after control Left and right stretch；By the first electromagnetism check valve group, the second electromagnetism check valve group, the first two position, three-way electromagnetic change valve, second Two position, three-way electromagnetic change valve, the first flow divider, the second flow divider and the setting of two-position four-way solenoid directional control valve, it is possible to achieve multiple Miscellaneous wheel steering operation.

Further, also including nose wheel angle sensor, rear wheel angle sensor and velocity sensor, described nose wheel angle passes Sensor is connected with described front oil cylinder, and for the steering angle of the front-seat wheel of detection in real time, described rear wheel angle sensor is with described Rear oil cylinder connects, and for the steering angle of detection rear vehicle wheel in real time, described velocity sensor is connected with described power source, is used for Detect current speed in real time.

Further, PLC control system, described nose wheel angle sensor, rear wheel angle sensor and velocity pick-up are also included Device is all connected with described PLC control system.

Further, described first electromagnetism check valve group, described second electromagnetism check valve group, described first two-position three-way electromagnetic Reversal valve, described second two position, three-way electromagnetic change valve and described two-position four-way solenoid directional control valve all with described PLC control system Circuit connects, and described PLC control system is sent by described nose wheel angle sensor, rear wheel angle sensor and velocity sensor Signal can control described first electromagnetism check valve group, described second electromagnetism check valve group, described first two-position three-way electromagnetic change To valve, described second two position, three-way electromagnetic change valve and the action of described two-position four-way solenoid directional control valve, and then control front and rear row The rotation direction of described wheel and angle.

Use above-mentioned further scheme to provide the benefit that, various electromagnetic valves all accessed described PLC control system, it is simple to Control the action of various electromagnetic valve, to realize the function set.

Further, described PLC control system includes the gear controlling three mode of operations of described wheel steering, is respectively Front-wheel steer operation range, synchronization turn to operation range and four-wheel steering operation range.

Use above-mentioned further scheme to provide the benefit that, meet and different driving process turns to demand.

This utility model additionally provides a kind of control method, for controlling above-mentioned a kind of vehicle chassis, it is achieved rear wheel lock Fixed, front-wheel steer, described PLC control system is switched to front-wheel steer operation range, described PLC control system obtains controlling letter Number, described oil pump is only described front oil cylinder fuel feeding, described rear oil cylinder not by fuel feeding by wheel lock described in heel row 0 ° of position； Turn left described steering wheel, drives the described left steering interface fuel feeding of described hydraulic steering gear, described right turn interface oil return, The cylinder rod driving described front oil cylinder moves to left, wheel left steering, when left steering is less than extreme angles 45 degree, and described first electromagnetism list Keep open-minded to valve group；When wheel turns left to 45 degree, described PLC control system obtains what described nose wheel angle sensor sent Signal, described first electromagnetism check valve group obtains electric commutation fuel cut-off can only pass through check valve oil return, and left steering reaches capacity position Put stopping, can only right turn；Turn right described steering wheel, drive described hydraulic steering gear described right turn interface fuel feeding, Described left steering interface oil return, drives the cylinder rod of described front oil cylinder to move to right, and wheel starts to turn to the right；Turn right to craspedodrome direction When partially turning 90 degrees, described PLC control system obtains the signal that described nose wheel angle sensor sends, described second electromagnetism check valve Organizing to obtain electric commutation fuel cut-off, now wheel reaches the maximum angle of right turn, now front-seat wheel steering 90 degree, and heel row car Wheel is 0 degree, and automobile can rotate in place.

Use said method provide the benefit that, under front-wheel steer operation range, in conjunction with nose wheel angle sensor and after The detection signal that wheel angular transducer sends, is transferred to described PLC control system, then electromagnetic valve is carried out action control, can To control trailing wheel locking, front-wheel steer, and then realize rotating in place, and coordinate the forward gear of vehicle, retrogressing gear to realize up time Pin, the rotation of twocouese counterclockwise.

This utility model additionally provides a kind of control method, it is achieved front and rear row wheel synchronizes to turn to, and described PLC is controlled system System switches to synchronization and turns to operation range, described PLC control system to obtain control signal, described first two-position three-way electromagnetic commutation Valve and described second two position, three-way electromagnetic change valve commutation, oil circuit, and then described first flow divider and described second are accessed in right position Flow divider is connected；The described left position of two-position four-way solenoid directional control valve is connected, described oil pump be described front oil cylinder and described rear oil cylinder with Time fuel feeding；The signal sent by described front angular transducer and described rear angular transducer is controlled wheel described in front and rear row and synchronizes Turn in the same direction, and steering angle is that-90 degree are to+45 degree.

Use said method provide the benefit that, synchronize turn under operation range, in conjunction with nose wheel angle sensor and after The detection signal that wheel angular transducer sends, is transferred to described PLC control system, then electromagnetic valve is carried out action control, can Synchronize to turn to control front and back wheel, it is achieved the oblique traveling of automobile and cross running.

This utility model additionally provides a kind of control method, for controlling above-mentioned a kind of automobile, it is achieved described wheel four Round to, described PLC control system is switched to four-wheel steering operation range, described PLC control system obtains control signal, institute Stating the first two position, three-way electromagnetic change valve and described second two position, three-way electromagnetic change valve commutation, oil circuit, Jin Ersuo are accessed in right position State the first flow divider to connect with described second flow divider；Described two-position four-way solenoid directional control valve commutates, and right position works, described oil pump For described front oil cylinder and described rear oil cylinder fuel feeding simultaneously；By described front angular transducer, described rear angular transducer and speed The signal that sensor sends, controlling the steering angle scope of front-seat described wheel is that left avertence turns 45 degree and turns 45 degree to right avertence, heel row The steering angle of described wheel constantly reduces with the increase of speed, and when speed is less than or equal to 85 kilometers/hour, front-seat Wheel described in described wheel and heel row is reversely deflection, and when speed is more than 85 kilometers/hour, two-position four-way solenoid directional control valve changes To, described in front-seat described wheel and heel row, wheel is for deflect in the same direction.

Said method is used to provide the benefit that, under four-wheel steering operation range, in conjunction with nose wheel angle sensor, trailing wheel The detection signal that angular transducer and velocity sensor send, is transferred to described PLC control system, controls system by described PLC The system action control to electromagnetic valve, it is achieved automobile turning under different vehicle speed condition, improve vehicle handling, stability and Safety.

Accompanying drawing explanation

Fig. 1 is the solid of the first detailed description of the invention of a kind of variable-angle actuating device provided by the utility model Structural representation；

Fig. 2 is the front view of a kind of variable-angle actuating device shown in Fig. 1；

Fig. 3 is the rough schematic view of a kind of variable-angle actuating device shown in Fig. 1；

Fig. 4 is the simplification of the second detailed description of the invention of a kind of variable-angle actuating device provided by the utility model Schematic diagram；

Fig. 5 is the simplification of the third detailed description of the invention of a kind of variable-angle actuating device provided by the utility model Schematic diagram；

Fig. 6 is the perspective view of the detailed description of the invention of a kind of vehicle chassis provided by the utility model；

Fig. 7 is the top view of the detailed description of the invention of a kind of vehicle chassis shown in Fig. 6；

Fig. 8 is the hydraulic schematic of the detailed description of the invention of a kind of vehicle chassis provided by the utility model；

Fig. 9 is the rough schematic view of the detailed description of the invention of a kind of vehicle chassis provided by the utility model；

Figure 10 is that the front-seat wheel of a kind of vehicle chassis provided by the utility model turns to the right 90 °, and rear vehicle wheel is locked It is set to the schematic diagram after 0 °；

Figure 11 is to arrange wheel before and after a kind of vehicle chassis provided by the utility model to synchronize showing after turning to 45 ° to the left It is intended to；

Figure 12 is to arrange wheel before and after a kind of vehicle chassis provided by the utility model to synchronize showing after turning to the right 90 ° It is intended to；

Figure 13 is that the front-seat wheel of a kind of vehicle chassis provided by the utility model turns to the right 45 °, rear vehicle wheel to Schematic diagram after left steering 45 °.

In accompanying drawing, the list of parts representated by each label is as follows:

Power output shaft 1, power input shaft 2, fixed mount 3, swing span 4, the first bearing pin 5, the first bevel gear 6, the second cone Gear 7, third hand tap gear 8, overflow valve 9, wheel 10, power source 11, the first differential mechanism 12, final drive shaft 13, the second differential mechanism 14, the 3rd differential mechanism 15, retractor device 16, steering arm 17, connecting rod 18, oil pump 19, fuel tank 20, hydraulic steering gear 21, the first electricity Magnetic check valve group 22, the second electromagnetism check valve group 23, the first two position, three-way electromagnetic change valve 24, the second two-position three-way electromagnetic changes To valve 25, the first flow divider 26, the second flow divider 27, two-position four-way solenoid directional control valve 28, nose wheel angle sensor 29, trailing wheel angle Degree sensor 30, velocity sensor 31, the 4th bevel gear 101, the 5th bevel gear 102, the 6th bevel gear 103, the 7th bevel gear 104, the first gear 105, the second gear 106, the 3rd gear 107, the second bearing pin 108, the 3rd bearing pin 109, the 4th bearing pin 110, 8th bevel gear 201, the 9th bevel gear 202, the tenth bevel gear 203, the 11st bevel gear 204, the 5th bearing pin 205.

Detailed description of the invention

Being described principle of the present utility model and feature below in conjunction with accompanying drawing, example is served only for explaining this practicality Novel, it is not intended to limit scope of the present utility model.

As shown in figure 1 to figure 13, Fig. 1 is the first tool of a kind of variable-angle actuating device provided by the utility model The perspective view of body embodiment；Fig. 2 is the front view of a kind of variable-angle actuating device shown in Fig. 1；Fig. 3 is figure The rough schematic view of a kind of variable-angle actuating device shown in 1；Fig. 4 is that a kind of variable-angle provided by the utility model passes The rough schematic view of the second detailed description of the invention of dynamic device；Fig. 5 is that a kind of variable-angle provided by the utility model passes The rough schematic view of the third detailed description of the invention of dynamic device；Fig. 6 is a kind of vehicle chassis provided by the utility model The perspective view of detailed description of the invention；Fig. 7 is the top view of the detailed description of the invention of a kind of vehicle chassis shown in Fig. 6 Figure；Fig. 8 is the hydraulic schematic of the detailed description of the invention of a kind of vehicle chassis provided by the utility model；Fig. 9 is this The rough schematic view of the detailed description of the invention of a kind of vehicle chassis that utility model is provided；Figure 10 is provided by this utility model The front-seat wheel of a kind of vehicle chassis turn to the right 90 °, rear vehicle wheel is locked as the schematic diagram after 0 °；Figure 11 is that this practicality is new Arrange wheel before and after a kind of vehicle chassis that type is provided to synchronize to turn to the schematic diagram after 45 ° to the left；Figure 12 is this utility model Arrange wheel before and after a kind of vehicle chassis provided to synchronize to turn to the right the schematic diagram after 90 °；Figure 13 is this utility model institute The front-seat wheel of a kind of vehicle chassis provided turns to the right 45 °, and rear vehicle wheel turns to the schematic diagram after 45 ° to the left.

A kind of variable-angle actuating device provided by the utility model, including power output shaft 1, power input shaft 2, consolidates Determine frame 3, swing span 4 and power transmission；Described power output shaft 1 rotates connection in being installed on described swing span 4, and And described power output shaft 1 one end accesses wheel 10, the other end is connected with described power transmission；Described power input shaft 2 Rotate connection in being installed on described fixed mount 3, and described power input shaft 2 one end is connected with dynamical system, the other end It is connected with described power transmission；Described swing span 4 is rotationally connected with described fixed mount 3, and its pivot center is vertical Direction, described power transmission is connected in described fixed mount 3 and described swing span 4；Described power input shaft 2 passes through institute State power transmission and power is passed to described power output shaft 1, and then drive described wheel 10 to rotate.

Wherein power transmission is to form by the way of gear combination.

In the first detailed description of the invention, as shown in Figure 1 to Figure 3, power transmission includes the first bearing pin 5, first Bevel gear the 6, second bevel gear 7 and third hand tap gear 8, described first bevel gear 6 is fixing with described power output shaft 1 to be connected, institute Stating that the second bevel gear 7 is fixing with described power input shaft 2 to be connected, described third hand tap gear 8 is set in outside described first bearing pin 5 And rotate connection, and described first bevel gear 6, described second bevel gear 7 all with described third hand tap gear 8 company of engagement Connect；The rotation axis of described third hand tap gear and described fixed mount 3 and the pivot center weight in relative rotation of described swing span 4 Close.

In the second detailed description of the invention, as shown in Figure 4, power transmission includes the 4th bevel gear the 101, the 5th cone Gear the 102, the 6th bevel gear the 103, the 7th bevel gear the 104, first gear the 105, second gear the 106, the 3rd gear 107, second Bearing pin the 108, the 3rd bearing pin 109 and the 4th bearing pin 110；Described 4th bevel gear 101 is fixing with described power output shaft 1 to be connected, Described 4th bevel gear 101 engages with described 5th bevel gear 102, and described 5th bevel gear 102 and described first gear 105 are equal Being fixedly installed in described second bearing pin 108, described second bearing pin 108 is installed in described swing span 4, and with described fixed mount 3 And described swing span 4 is rotatably connected, the rotation axis of described 5th bevel gear 102 and described fixed mount 3 and described swing span 4 Pivot center in relative rotation overlap；Described 6th bevel gear 103 is fixing with described power input shaft 2 to be connected, and the described 6th Bevel gear 103 engages with described 7th bevel gear 104, and described 7th bevel gear 104 and described second gear 106 all fixedly mount In described 3rd bearing pin 109, described 3rd bearing pin 109 is installed in described fixed mount 3；Described first gear 105 and the second tooth Being additionally provided with, between wheel 106, the 3rd gear 107 jointly engaged with the two, described 3rd gear 107 is fixedly installed in the described 4th Bearing pin 110, described 4th bearing pin 110 is installed in described fixed mount 3, and is rotatably connected with described fixed mount 3.

In the third detailed description of the invention, as it is shown in figure 5, power transmission power transmission includes the 8th cone tooth Wheel the 201, the 9th bevel gear the 202, the tenth bevel gear the 203, the 11st bevel gear 204 and the 5th bearing pin 205；Described 8th bevel gear 201 fixing with described power output shaft 1 are connected, while engage with described 9th bevel gear 202；Described tenth bevel gear 203 with Described power input shaft 2 is fixing to be connected, and engages with described 11st bevel gear 204 simultaneously；Described 9th bevel gear 202 and described 11st bevel gear 204 is fixedly installed on described 5th bearing pin 205, described 5th bearing pin 205 be installed on described fixed mount 3 and In described swing span 4, and be rotatably connected with the two, the rotation axis of described 9th bevel gear the 202 and the 11st bevel gear 204 with The pivot center in relative rotation of described fixed mount 3 and described swing span 4 overlaps.

Variable-angle actuating device provided by the utility model can include the concrete of above-mentioned three kinds of power transmissions Embodiment, its common ground is all to use the mode of gear or bevel gear or a combination thereof to realize the transmission of power, and passes through After bevel gear engagement, swing span can be with a bevel gear fixing with power output shaft around the bevel gear pendulum engaged Dynamic, transmission and two actions of swing that therefore can realize power complete simultaneously, and structural stability is high, and bearing capacity is high, Ke Yishi The vehicle chassis that should run at high speed, it is also possible to be applied in the engineering truck that bearing capacity is high.

This utility model provide a kind of vehicle chassis detailed description of the invention in, as shown in Figure 6, Figure 7, including vehicle bridge, Wheel 10, dynamical system and steering wheel, also include any one variable-angle actuating device recited above, and described variable-angle passes Dynamic device is four, and its power output shaft 1 is connected with the described wheel 10 of row before and after vehicle respectively, power input shaft 2 points It is not connected with described dynamical system.Described dynamical system includes that power source the 11, first differential mechanism 12, final drive shaft 13, second are poor Speed device 14 and the 3rd differential mechanism 15, described second differential mechanism 14 is located between two described variable-angle actuating devices at front row, Described 3rd differential mechanism 15 is located between two described variable-angle actuating devices of heel row, and institute is located at by described first differential mechanism 12 Stating between the second differential mechanism 14 and the 3rd differential mechanism 15, described power source 11 is in transmission connection with described first differential mechanism 12, described First differential mechanism 12 is in transmission connection with described second differential mechanism 14 and the 3rd differential mechanism 15 respectively by final drive shaft 13, and described the The while of two differential mechanisms 14, the described power input shaft 2 with two front-seat described variable-angle actuating devices is in transmission connection, described The while of 3rd differential mechanism 15, the described power input shaft 2 with the two of heel row described variable-angle actuating devices is in transmission connection.

By said structure mode, it is possible to achieve the transmission of power, and maneuverability, stability are the highest.In order to simultaneously Realizing turning to of wheel, this utility model provides a kind of detailed description of the invention, including retractor device 16, steering arm 17 and connecting rod 18；Described retractor device 16 is two, be respectively arranged in front row two described variable-angle actuating devices and two of heel row Between described variable-angle actuating device, described retractor device 16 includes middle canned paragraph and telescopic section, described middle canned paragraph Fixing with described vehicle bridge and be connected, described telescopic section is placed in described middle canned paragraph, and two ends all stretch out in described centre admittedly The section of determining, described telescopic section can move freely in described middle canned paragraph；Described connecting rod 18 is four；Described steering arm 17 is four Individual, and the described pendulum in one end of four described steering arms 17 respectively one_to_one corresponding and four described variable-angle actuating devices Moving frame 4 is fixing to be connected, and the other end is hinged with one end of its described connecting rod 18 one to one respectively, described connecting rod 18 another One end is hinged with nearest one end of the described retractor device 16 of corresponding row.The setting angle of described four steering arms 17 is identical, and And and the craspedodrome direction of automobile between angle be 5 degree to 40 degree, in order to eliminate steering link dead point.

It is 45 degree that retractor device 16 stretch out the described wheel of driving to the left to deflect maximum angle to the left, stretches out to the right driving described It is 90 degree that wheel 10 deflects to the right maximum angle.

Retractor device 16 can be electronic threaded screw rod, and in this detailed description of the invention, retractor device 16 is hydraulic cylinder, and And described hydraulic cylinder is double outlet-rod hydraulic cylinders, the retractor device 16 between front-seat described variable-angle actuating device is front Oil cylinder, the retractor device 16 between the described variable-angle actuating device of heel row is rear oil cylinder, described front oil cylinder double go out Bar one_to_one corresponding respectively is connected with two front-seat connecting rods 18, double rods of described rear oil cylinder one_to_one corresponding respectively and the two of heel row Individual connecting rod 18 connects.

In order to realize the accurate control to oil cylinder, also include that hydraulic steering system, described front oil cylinder and described rear oil cylinder are equal Accessing described hydraulic steering system by pipeline, described hydraulic steering system controls described front oil cylinder and the left and right of described rear oil cylinder Flexible, and then drive described wheel 10 to turn to.Described hydraulic steering system also include oil pump 19, fuel tank 20, hydraulic steering gear 21, Overflow valve the 9, first electromagnetism check valve group the 22, second electromagnetism check valve group the 23, first two position, three-way electromagnetic change valve the 24, the 2nd 2 Position three-way solenoid valve the 25, first flow divider the 26, second flow divider 27 and two-position four-way solenoid directional control valve 28；Described first electricity Magnetic check valve group 22 and described second electromagnetism check valve group 23 are changed by a check valve and one bi-bit bi-pass electromagnetism open in usual Compose in parallel to valve；There is on described hydraulic steering gear 21 inlet port, oil return opening and left steering interface and right turn interface；Described The oil-out of oil pump 19 is connected with the inlet port of described hydraulic steering gear 21, and is connecting oil-out and the institute of described oil pump 19 State on the pipeline between the inlet port of hydraulic steering gear 21 access overflow valve 9, and described fuel tank 20 and described hydraulic steering gear 21 Oil return opening be connected, described hydraulic steering gear 21 is connected with described steering wheel；Described left steering interface is sequentially connected with described first Electromagnetism check valve group the 22, first two position, three-way electromagnetic change valve 24, then by the A of described first two position, three-way electromagnetic change valve 24 Mouth accesses the right side access port of described front oil cylinder；Described right turn interface be sequentially connected with described second electromagnetism check valve group 23, Two two position, three-way electromagnetic change valves 25, then access described front oil cylinder by the A mouth of described second two position, three-way electromagnetic change valve 25 Left side access port；The access port of described first flow divider 26 is connected with the B mouth of described first two position, three-way electromagnetic change valve 24, Described first flow divider 26 shunts two-way, and the right side access port of described front oil cylinder is accessed on a road, and another road accesses described two four The P mouth of electric change valve 28, then the right side access of described rear oil cylinder is accessed by the A mouth of described two-position four-way solenoid directional control valve 28 Mouthful；The access port of described second flow divider 27 is connected with the B mouth of described second two position, three-way electromagnetic change valve 25, described second point Stream valve 27 shunts two-way, and the left side access port of described front oil cylinder is accessed on a road, and described two-position four-way electromagnetic switch is accessed on another road The T mouth of valve 28, then the left side access port of described rear oil cylinder is accessed by the B mouth of described two-position four-way solenoid directional control valve 28.

It addition, in a kind of automobile provided by the utility model, also include that nose wheel angle sensor 29, rear wheel angle sense Device 30 and velocity sensor 31, described nose wheel angle sensor 29 is connected with described front oil cylinder, for the front-seat wheel of detection in real time The steering angle of 10, described rear wheel angle sensor 30 is connected with described rear oil cylinder, for turning of detection rear vehicle wheel 10 in real time To angle, described velocity sensor 31 is connected with described power source 11, detects current speed in real time.Also include that PLC is controlled System processed, described nose wheel angle sensor 29, rear wheel angle sensor 30 and velocity sensor 31 all with described PLC control system It is connected.Described first electromagnetism check valve group 22, described second electromagnetism check valve group 23, described first two-position three-way electromagnetic commutation Valve 24, described second two position, three-way electromagnetic change valve 25 and described two-position four-way solenoid directional control valve 28 all control system with described PLC System circuit connects, and described PLC control system is by described nose wheel angle sensor 29, rear wheel angle sensor 30 and velocity pick-up The signal that device 31 sends can control described first electromagnetism check valve group 22, described second electromagnetism check valve group the 23, the described 1st Moving of position three-way solenoid valve 24, described second two position, three-way electromagnetic change valve 25 and described two-position four-way solenoid directional control valve 28 Make, and then control rotation direction and the angle of wheel 10 described in front and rear row.

PLC control system includes the gear controlling three mode of operations that described wheel 10 turns to, respectively front-wheel steer Operation range, synchronization turn to operation range and four-wheel steering operation range.The various demand turned to can be met.

This utility model additionally provides the detailed description of the invention of a kind of method controlling above-mentioned vehicle chassis, it is achieved rear wheel lock Fixed, front-wheel steer, described PLC control system is switched to front-wheel steer operation range, described PLC control system obtains controlling letter Number, described first two position, three-way electromagnetic change valve 24 and the described second left position of two position, three-way electromagnetic change valve 25 are connected, described oil Pump 19 is only described front oil cylinder fuel feeding, and wheel described in heel row 10 is not locked in 0 ° of position by described rear oil cylinder by fuel feeding.

Turn left described steering wheel, drives the described left steering interface fuel feeding of described hydraulic steering gear, described right turn Interface oil return, drives the cylinder rod of described front oil cylinder to move to left, wheel left steering, when left steering is less than extreme angles 45 °, and described the One electromagnetism check valve group keeps open-minded；When wheel turns left to 45 degree, described PLC control system obtains described nose wheel angle sensing The signal that device sends, described first electromagnetism check valve group obtains electric commutation fuel cut-off can only pass through check valve oil return, and left steering reaches Stop to extreme position, can only right turn；Turn right described steering wheel, drives the described right turn of described hydraulic steering gear to connect Confession left steering oily, described interface oil return, drives the cylinder rod of described front oil cylinder to move to right, and wheel starts to turn to the right；Turn right to When craspedodrome direction turn 90 degrees partially, described PLC control system obtains the signal that described nose wheel angle sensor sends, described first electricity Magnetic check valve group obtains electric commutation and allows fuel feeding, and the most described second electromagnetism check valve group obtains electric commutation fuel cut-off, now wheel Reaching the maximum angle of right turn, now front-seat wheel steering 90 degree, and rear vehicle wheel is 0 degree, automobile can rotate in place.

This utility model additionally provides the detailed description of the invention of a kind of control method, is used for realizing front and rear row wheel and synchronizes to turn To, described PLC control system is switched to synchronization and turns to operation range, described PLC control system to obtain control signal, described One two position, three-way electromagnetic change valve 24 and described second two position, three-way electromagnetic change valve 25 commutate, and oil circuit, Jin Ersuo are accessed in right position State the first flow divider 26 to connect with described second flow divider 27；The described left position of two-position four-way solenoid directional control valve 28 is connected, described oil Pump 19 is described front oil cylinder and described rear oil cylinder fuel feeding simultaneously；Sent out by described front angular transducer and described rear angular transducer The signal gone out controls wheel 10 described in front and rear row and synchronizes to turn in the same direction, and steering angle is that-90 degree are spent to+45, and angle is-90 When spending, automobile can be with cross running, other oblique traveling of angle automobile.

Turn left described steering wheel, drives the described left steering interface fuel feeding of described hydraulic steering gear 21, described right-hand rotation To interface oil return, driving the cylinder rod of described front oil cylinder and described rear oil cylinder to move to left, front-seat and heel row described wheel is the most left simultaneously Turning to, when left steering is less than extreme angles 45 °, described first electromagnetism check valve group keeps open-minded；When wheel turns left to 45 degree, The signal that described PLC control system obtains described nose wheel angle sensor 29 and described rear wheel angle sensor 30 is simultaneously emitted by, First electromagnetism check valve group 22 must be electrically turn off, fuel feeding stop, now can only right turn, left steering reach capacity position stop；To Turn right and move described steering wheel, drive the described right turn interface fuel feeding of described hydraulic steering gear 21, described left steering interface to return Oil, drives the cylinder rod of described front oil cylinder and described rear oil cylinder to move to right simultaneously, and wheel described in front and rear row turns to the right simultaneously；Front and rear row Described wheel is turned right to when partially turning 90 degrees with craspedodrome direction, and described PLC control system obtains described nose wheel angle sensor 29 He The signal that described rear wheel angle sensor 30 is simultaneously emitted by, now wheel described in front and rear row all reaches the maximum angle of right turn, Now automobile can carry out cross running.

This utility model additionally provides the detailed description of the invention of a kind of control method, is used for realizing wheel four-wheel steering, will Described PLC control system switches to four-wheel steering operation range, and described PLC control system obtains control signal, and the described 1st Position three-way solenoid valve 24 and described second two position, three-way electromagnetic change valve 25 commutate, and oil circuit, and then described the are accessed in right position One flow divider 26 is connected with described second flow divider 27；Described two-position four-way solenoid directional control valve 28 commutates, and right position works, described oil Pump 19 is described front oil cylinder and described rear oil cylinder fuel feeding simultaneously；By described front angular transducer, described rear angular transducer and The signal that velocity sensor 31 sends, after control, the steering angle scope of front-seat described wheel 10 is that left avertence turns 45 degree to right avertence Turning 45 degree, described in heel row, the steering angle of wheel 10 constantly reduces with the increase of speed, and public less than or equal to 85 in speed In/little constantly, wheel 10 described in front-seat described wheel 10 and heel row is reversely deflection, when speed is more than 85 kilometers/hour, front Row's two-position four-way solenoid directional control valve commutates, and described in described wheel 10 and heel row, wheel 10 is for deflect in the same direction.

When speed is 0-10km/h, described first two position, three-way electromagnetic change valve 24, described second two-position three-way electromagnetic change All commutate to valve 25, access right position, connect described first flow divider 26 and described second flow divider 27；Described two-position four-way electromagnetism Reversal valve 28 also commutates, and right position works, and described oil pump is described front oil cylinder and described rear oil cylinder fuel feeding simultaneously；Now front and back wheel Opposing angular turns to.When left steering to 45 degree, the first electromagnetism check valve group 22 must be electrically turn off, and can only pass through check valve oil return, Now left steering locking, when left steering is less than 45 degree, the first electromagnetism check valve group 22 power-off is open-minded, and right turn is to 45 degree Time, the second electromagnetism check valve group 23 must be electrically turn off, and right turn locks, can only be by the check valve in the first electromagnetism check valve group 22 Oil return, when right turn angle is less than 45 degree, the second electromagnetism check valve group 23 power-off is open-minded.

When speed is 10-20km/h, described first two position, three-way electromagnetic change valve 24, described second two-position three-way electromagnetic change All commutate to valve 25, access right position, connect described first flow divider 26 and described second flow divider 27；Described two-position four-way electromagnetism Reversal valve 28 also commutates, and right position works, and described oil pump is described front oil cylinder and described rear oil cylinder fuel feeding simultaneously；Now front and back wheel Opposing angular turns to.When front and back wheel left steering to 30 degree, PLC control system controls described first two-position three way magnetic valve 24 and changes All commutating to described second two position, three-way electromagnetic change valve 25, now heel row oil cylinder starts fuel cut-off, and then trailing wheel locking At 30 °, front-wheel can continue left steering, and during to 45 degree, now controlling the first electromagnetism check valve group 22 must be electrically turn off, and can only turn right To；When returning to the right wheel, trailing wheel remains on left steering 30 degree, and during Present cycle to 30 degree, front and back wheel angle is now consistent, the One two position, three-way electromagnetic change valve 24 and the second two position, three-way electromagnetic change valve 25 all electric commutation, take back right wing, now before and after Wheel can turn to simultaneously.

When speed 85km/h and following time, control principle is similar to the above, road speed and wheel steering scope such as table 1 Shown in.

When speed is at more than 85km/h, described first two position, three-way electromagnetic change valve 24, described second two-position three way electricity Magnetic reversal valve 25 all accesses right wing, connects described first flow divider 26 and described second flow divider 27；Described two-position four-way electromagnetism The left position of reversal valve 28 works, and described oil pump 19 be described front oil cylinder and described rear oil cylinder fuel feeding simultaneously, and now front and back oil cylinder is in the same direction Synchronization telescope, and then drive wheel to deflect in the same direction.When turn left steering wheel time, front and back wheel deflects the most to the left, during to 2.5 degree, First two position, three-way electromagnetic change valve 24 and described second two position, three-way electromagnetic change valve 25 all electric commutation, left position connect, this Oil cylinder fuel cut-off time after, and then rear wheel lock is scheduled on 2.5 degree, front-wheel can continue to turn to；Present cycle is taken turns to left avertence 2.5 degree Time, front and back wheel steering angle is consistent, the first two position, three-way electromagnetic change valve 24 and described second two position, three-way electromagnetic change valve 25 all electric commutation, then access right wing, now front and back wheel starts synchronization and turns to.

In above-mentioned several control methods, need to meet rear wheel steering angle simultaneously and be 0 degree and reach the speed set Two conditions of area requirement, perform existing scope when being unsatisfactory for.It should be pointed out that, above-described deflection angle and velocity interval Simply to illustrate that principle and the one preferably specific embodiment that provides, can the most arbitrarily adjust in being embodied as.

Table 1: road speed and wheel steering scope synopsis

Above a kind of variable-angle actuating device provided by the utility model, vehicle chassis and control method thereof are done Detailed elaboration, the beneficial effect of vehicle chassis provided by the utility model is summarized as follows:

1, can be with compatible conventional power and novel energy；

2, wheel can deflect in the same direction, reversely deflect, and possesses cross running, the ability of oblique traveling, conveniently parks；

3, free adjustment can be carried out the when of cross running, overcome in prior art during cross running not by people For the limitation controlled.

4, reliable, and the active safety of vehicle, maneuverability and mobility can be greatly improved；

5, independent suspension system and dependent suspension all can be applied；

It is positioned at transverse axis both sides with the wheel of row when 6, turning to, more reliable and more stable.

The foregoing is only preferred embodiment of the present utility model, not in order to limit this utility model, all in this practicality Within novel spirit and principle, any modification, equivalent substitution and improvement etc. made, should be included in guarantor of the present utility model Within the scope of protecting.

Claims (15)

1. a variable-angle actuating device, it is characterised in that include power output shaft (1), power input shaft (2), fixed mount (3), swing span (4) and power transmission；

Described power output shaft (1) rotates connection, and described power output shaft (1) in being installed on described swing span (4) Wheel (10) is accessed in one end, and the other end is connected with described power transmission；

Described power input shaft (2) rotates connection, and described power input shaft (2) in being installed on described fixed mount (3) One end is connected with dynamical system, and the other end is connected with described power transmission；

Described swing span (4) is rotationally connected with described fixed mount (3), and its pivot center is vertical direction, and described power passes Delivery device is connected in described fixed mount (3) and described swing span (4)；

Described power input shaft (2) passes to described power output shaft (1) by described power transmission power, and then drives Dynamic described wheel (10) rotates.

A kind of variable-angle actuating device the most according to claim 1, it is characterised in that described power transmission includes First bearing pin (5), the first bevel gear (6), the second bevel gear (7) and third hand tap gear (8), described first bevel gear (6) and institute Stating the fixing connection of power output shaft (1), described second bevel gear (7) is fixing with described power input shaft (2) to be connected, and the described 3rd Bevel gear (8) is set in described first bearing pin (5) outside and rotates connection, and described first bevel gear (6), described the Two bevel gears (7) are all connected with the engagement of described third hand tap gear (8)；The rotation axis of described third hand tap gear (8) is solid with described The pivot center in relative rotation determining frame (3) and described swing span (4) overlaps.

A kind of variable-angle actuating device the most according to claim 1, it is characterised in that described power transmission includes 4th bevel gear (101), the 5th bevel gear (102), the 6th bevel gear (103), the 7th bevel gear (104), the first gear (105), the second gear (106), the 3rd gear (107), the second bearing pin (108), the 3rd bearing pin (109) and the 4th bearing pin (110)；

Described 4th bevel gear (101) is fixing with described power output shaft (1) to be connected, and described 4th bevel gear (101) is with described 5th bevel gear (102) engagement, described 5th bevel gear (102) and described first gear (105) are all fixedly installed in described the Two bearing pins (108), described second bearing pin (108) is installed in described swing span (4), described fixed mount (3) and described swing span (4) it is rotatably connected, the rotation axis of described 5th bevel gear (102) and described fixed mount (3) and described swing span (4) relative The pivot center rotated overlaps；

Described 6th bevel gear (103) is fixing with described power input shaft (2) to be connected, and described 6th bevel gear (103) is with described 7th bevel gear (104) engagement, described 7th bevel gear (104) and described second gear (106) are all fixedly installed in described the Three bearing pins (109), described 3rd bearing pin (109) is installed in described fixed mount (3)；

The 3rd gear (107) jointly engaged with the two it is additionally provided with between described first gear (105) and the second gear (106), Described 3rd gear (107) is fixedly installed in described 4th bearing pin (110), and described 4th bearing pin (110) is installed on described fixing In frame (3), and it is rotatably connected with described fixed mount (3).

A kind of variable-angle actuating device the most according to claim 1, it is characterised in that described power transmission includes 8th bevel gear (201), the 9th bevel gear (202), the tenth bevel gear (203), the 11st bevel gear (204) and the 5th bearing pin (205)；

Described 8th bevel gear (201) is fixing with described power output shaft (1) to be connected, simultaneously with described 9th bevel gear (202) Engagement；

Described tenth bevel gear (203) is fixing with described power input shaft (2) to be connected, simultaneously with described 11st bevel gear (204) engagement；

Described 9th bevel gear (202) and described 11st bevel gear (204) are fixedly installed on described 5th bearing pin (205), Described 5th bearing pin (205) is installed in described fixed mount (3) and described swing span (4), and is rotatably connected with the two, and described the The rotation axis of nine bevel gears (202) and the 11st bevel gear (204) and described fixed mount (3) and the phase of described swing span (4) The pivot center rotated is overlapped.

5. a vehicle chassis, including vehicle bridge, wheel (10), dynamical system and steering wheel, it is characterised in that also include that right is wanted Asking the variable-angle actuating device described in 1 to 4 any one, described variable-angle actuating device is four, its power output shaft (1) Being connected with the described wheel (10) of row before and after vehicle respectively, power input shaft (2) is connected with described dynamical system respectively.

A kind of vehicle chassis the most according to claim 5, it is characterised in that described dynamical system include power source (11), First differential mechanism (12), final drive shaft (13), the second differential mechanism (14) and the 3rd differential mechanism (15), described second differential mechanism (14) Be located between two described variable-angle actuating devices at front row, described 3rd differential mechanism (15) be located at two of heel row described in can Between varied angle actuating device, described first differential mechanism (12) be located at described second differential mechanism (14) and the 3rd differential mechanism (15) it Between, described power source (11) is in transmission connection with described first differential mechanism (12), and described first differential mechanism (12) passes through final drive shaft (13) be in transmission connection with described second differential mechanism (14) and the 3rd differential mechanism (15) respectively, described second differential mechanism (14) simultaneously with The described power input shaft (2) of two front-seat described variable-angle actuating devices is in transmission connection, described 3rd differential mechanism (15) Described power input shaft (2) with the two of heel row described variable-angle actuating devices is in transmission connection simultaneously.

A kind of vehicle chassis the most according to claim 6, it is characterised in that also include retractor device (16), steering arm And connecting rod (18) (17)；

Described retractor device (16) is two, is respectively arranged in two described variable-angle actuating devices and the two of heel row at front row Between individual described variable-angle actuating device, described retractor device (16) includes middle canned paragraph and telescopic section, and described centre is solid The section of determining and described vehicle bridge are fixing to be connected, and described telescopic section is placed in described middle canned paragraph, and two ends all stretch out in described in Between canned paragraph, described telescopic section can move left and right in described middle canned paragraph；

Described connecting rod (18) is four；

Described steering arm (17) is four, and can described in one end of four described steering arms (17) respectively one_to_one corresponding and four Described swing span (4) in varied angle actuating device is fixing to be connected, the other end respectively with its described connecting rod one to one (18) one end is hinged, and the other end of described connecting rod (18) is hinged with nearest one end of the described retractor device (16) of corresponding row.

A kind of vehicle chassis the most according to claim 7, it is characterised in that left and right turn arm (17) parallel installation, and car Angle between craspedodrome direction is 5 degree to 40 degree, and described retractor device (16) stretches out the described wheel of driving (10) to the left to the left Deflection maximum angle is 45 degree, and stretch out to the right the described wheel of driving (10) deflecting to the right maximum angle is 90 degree.

A kind of vehicle chassis the most according to claim 8, it is characterised in that described retractor device (16) is hydraulic cylinder, and And described hydraulic cylinder is double outlet-rod hydraulic cylinders, the retractor device (16) between front-seat described variable-angle actuating device is Front oil cylinder, the retractor device (16) between the described variable-angle actuating device of heel row is rear oil cylinder, described front oil cylinder Double rods respectively one_to_one corresponding is connected with two front-seat connecting rods (18), double rods of described rear oil cylinder distinguish one_to_one corresponding with after Two connecting rods (18) of row connect.

A kind of vehicle chassis the most according to claim 9, it is characterised in that also include hydraulic steering system, described front oil Cylinder and described rear oil cylinder all access described hydraulic steering system by pipeline, described hydraulic steering system control described front oil cylinder and Stretching in the left and right of described rear oil cylinder, and then drives described wheel (10) to turn to.

11. a kind of vehicle chassis according to claim 10, it is characterised in that described hydraulic steering system also includes oil pump (19), fuel tank (20), hydraulic steering gear (21), overflow valve (9), the first electromagnetism check valve group (22), the second electromagnetism check valve group (23), the first two position, three-way electromagnetic change valve (24), the second two position, three-way electromagnetic change valve (25), the first flow divider (26), Two flow dividers (27) and two-position four-way solenoid directional control valve (28)；

Described first electromagnetism check valve group (22) and described second electromagnetism check valve group (23) are normal by a check valve and one Open type bi-bit bi-pass solenoid directional control valve composes in parallel；

There is on described hydraulic steering gear (21) inlet port, oil return opening and left steering interface and right turn interface；

The oil-out of described oil pump (19) is connected with the inlet port of described hydraulic steering gear (21), and is connecting described oil pump (19) overflow valve (9), and described fuel tank are accessed on the pipeline between oil-out and the inlet port of described hydraulic steering gear (21) (20) oil return opening with described hydraulic steering gear (21) is connected, and described hydraulic steering gear (21) is connected with described steering wheel；

Described left steering interface is sequentially connected with described first electromagnetism check valve group (22), the first two position, three-way electromagnetic change valve (24) the right side access port of described front oil cylinder, then is accessed by the A mouth of described first two position, three-way electromagnetic change valve (24)；Described Right turn interface is sequentially connected with described second electromagnetism check valve group (23), the second two position, three-way electromagnetic change valve (25), then passes through The A mouth of described second two position, three-way electromagnetic change valve (25) accesses the left side access port of described front oil cylinder；

The access port of described first flow divider (26) is connected with the B mouth of described first two position, three-way electromagnetic change valve (24), described First flow divider (26) shunting two-way, the right side access port of described front oil cylinder, the described two-position four-way of another road access are accessed in a road The P mouth of solenoid directional control valve (28), then connect by the right side of the A mouth described rear oil cylinder of access of described two-position four-way solenoid directional control valve (28) Entrance；The access port of described second flow divider (27) is connected with the B mouth of described second two position, three-way electromagnetic change valve (25), described Second flow divider (27) shunting two-way, the left side access port of described front oil cylinder, the described two-position four-way of another road access are accessed in a road The T mouth of solenoid directional control valve (28), then connect by the left side of the B mouth described rear oil cylinder of access of described two-position four-way solenoid directional control valve (28) Entrance.

12. a kind of vehicle chassis according to claim 11, it is characterised in that also include nose wheel angle sensor (29), Rear wheel angle sensor (30) and velocity sensor (31), described nose wheel angle sensor (29) is connected with described front oil cylinder, uses In the steering angle of the front-seat wheel (10) of detection in real time, described rear wheel angle sensor (30) is connected with described rear oil cylinder, is used for Detecting the steering angle of rear vehicle wheel (10) in real time, described velocity sensor (31) is connected with described power source (11), for real Time detect current speed.

13. a kind of vehicle chassis according to claim 12, it is characterised in that also include PLC control system, described front-wheel Angular transducer (29), rear wheel angle sensor (30) and velocity sensor (31) are all connected with described PLC control system.

14. a kind of vehicle chassis according to claim 13, it is characterised in that described first electromagnetism check valve group (22), Described second electromagnetism check valve group (23), described first two position, three-way electromagnetic change valve (24), described second two-position three-way electromagnetic Reversal valve (25) and described two-position four-way solenoid directional control valve (28) are all connected with described PLC control system circuit, and described PLC controls System can by the signal that described nose wheel angle sensor (29), rear wheel angle sensor (30) and velocity sensor (31) send Control described first electromagnetism check valve group (22), described second electromagnetism check valve group (23), described first two-position three-way electromagnetic change To valve (24), described second two position, three-way electromagnetic change valve (25) and the action of described two-position four-way solenoid directional control valve (28), enter And control rotation direction and the angle of wheel described in front and rear row (10).

15. a kind of vehicle chassis according to claim 14, it is characterised in that described PLC control system includes controlling institute State the gear of three mode of operations that wheel (10) turns to, respectively front-wheel steer operation range, synchronize to turn to operation range and Four-wheel steering operation range.