CN205890974U - Drive -by -wire four -wheel independent steering device system based on universal transmission structure - Google Patents
Drive -by -wire four -wheel independent steering device system based on universal transmission structure Download PDFInfo
- Publication number
- CN205890974U CN205890974U CN201620917939.9U CN201620917939U CN205890974U CN 205890974 U CN205890974 U CN 205890974U CN 201620917939 U CN201620917939 U CN 201620917939U CN 205890974 U CN205890974 U CN 205890974U
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- China
- Prior art keywords
- wheel
- traffic control
- line traffic
- drive structure
- steering system
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Abstract
The utility model discloses a drive -by -wire four -wheel independent steering device system based on universal transmission structure. Constitute by rotating electrical machines (1), reduction gear (2), buffer (3), transmission shaft (4), macpherson suspension system (5), rotary device (6), transmission (8) and ball cage universal joint (9). The power of rotating electrical machines (1) is crossed during ball cage universal joint (8) and transmission shaft (4) input transmission (8), and gear pair (7) through wherein change rotary motion's direction and size, drive the knuckle via rotary device (6) and rotate, realizes 90 corners of wheel. Because the constant speed nature of ball cage universal joint, the input corner does not change and changes along with the positional parameter with the linear relation of wheel corner, has increased the ability that control system resisted external disturbance, promotes its robustness. Outer the moving that this structure of while is passed through transmission (8) to arrange reduces kingpin inclination to increase stability under transport condition.
Description
Technical field
This utility model devises a kind of line traffic control Four wheel independent steering system based on universal drive structure, this steering
It is applied to four motorized wheels, braking, turns to intelligent vehicle, can achieve ± 90 ° of corners of each wheel.Belong to automotive steering
System technical field.
Background technology
With the development of automotive engineering, the active safety of automobile is more and more paid attention to.Four-wheel steering is to realize
One of method of active safety.Meanwhile, four-wheel steering automobile can achieve multiple action modes such as diagonal, Eriocheir sinensiss row, pivot stud,
There is higher motility it is adaptable to urban congestion operating mode.Therefore, this requires that four deflecting rollers can achieve ± 90 ° of steering.
Existing four-wheel steering system realizes steering procedure by track rod mostly, achieves monolateral 90 ° by hard spot design
Turn to, but because constructive interference problem cannot realize the change of corner ± 90 °.Other patent (cn103569197b) is led to
Cross gear to be driven, larger with the difference of existing automotive engineering, engineering is relatively low, is not easy to apply.
This utility model devises a kind of line traffic control Four wheel independent steering system based on universal drive structure.This system is passed through
Universal drive structure and the actuating device being located at McPherson suspension knuckle position, torque is directly acted at knuckle,
Drive its rotation.Do not interfered by frame for movement due to it and limited, can achieve ± 90 ° of corner change.This structure associated components,
As cage universal joint etc. is respectively provided with the design finished product of maturation.Meanwhile, compared with traditional McPherson suspension, dependency structure arrangement makes master
Pin leaning angle reduces, and so that the stability of traveling is increased, and reduces the abrasion of tire simultaneously.Less kingpin inclination also can reduce and turn
To moment, and then reduce power of motor.
Utility model content
The purpose of this utility model is to be achieved by the following measures four-wheel independent steering function.Will by corresponding structure
Torque directly acts at knuckle, drives knuckle rotation, realizes steering procedure.For being not related to machinery knot during this
Interference on structure, therefore can achieve ± 90 ° of changes of corner.For realizing above-mentioned action, action edge is entered by universal drive structure
Transmission, the size of action edge and the conversion in direction are entered by the actuating device (8) being placed on knuckle, are finally completed whole turning
To process.Simultaneously as traditional McPherson suspension has the characteristics that kingpin inclination is larger, therefore tire is easy to wear, turns simultaneously
Larger to power.This utility model, while realizing function, makes kingpin inclination less by structure arrangement, improves suspension system
The performance of system.
It is somebody's turn to do the variable ratio steering system based on hydraulic system, its composition includes electric rotating machine (1), decelerator (2), delays
Flushing device (3), power transmission shaft (4), McPherson suspension system (5), rotary apparatuss (6), gear pair (7), actuating device (8) and cage
Universal joint (9).Wherein, electric rotating machine (1) is connected by shaft coupling with decelerator (2) input shaft, and the output shaft of decelerator (2) is even
Connect buffer unit (3)；Power transmission shaft (4) two ends are in series with cage universal joint (9), this universal drive structure one end and buffer unit
(3) connect, one end connects actuating device (8).It is gear pair (7) inside actuating device (8), rotary motion is made by this structure
Size and direction change, and power is reached rotary apparatuss (6) place.Rotary apparatuss (6) are connected with knuckle, by this dress
Put its rotation of drive.Because this steering system structural does not have the restriction of track rod in traditional structure, thus can achieve and turn to
During ± 90 degree change.
The material of the buffer unit (3) described in technical scheme is rubber, is shaped as annular.Buffer unit (3) is located at axle
Between bearing and bearing, realize the flexible connection of the two.This device can relax impact when wheel is jumped to system, is simultaneously used for relaxing
Vibration during system work.
Actuating device (8) described in technical scheme is made up of housing, gear pair (7).The input of actuating device (8) with
Cage universal joint (9) is connected, and power is through this input wherein.Actuating device (8) inner pinion gear engages composition tooth with driven gear
Wheel set (7).In the presence of gear pair (7), the size of power and direction change.
Rotary apparatuss (6) described in technical scheme are coaxially connected with driven gear, through the effect of gear pair (7), from
The motor and size of power is transmitted at decelerator (2) place and direction changes, and finally enter in rotary apparatuss (6).Rotating dress
Put (6) to directly act on torque at knuckle, drive remaining wheel jointly to rotate, realize ± 90 ° of steering procedures.
Line traffic control Four wheel independent steering system in technical scheme carries out the accurate control of each corner by electronic control unit
System.In steering wheel angle signal and the incoming electronic control unit of relevant sensor signals, electronic control unit passes through to be calculated
Optimal four-wheel steering angle, makes four wheel independent steerings respectively.Under speed operation, for making go to action flexibly, front and back wheel
Corner direction is incorgruous；Under high-speed working condition, for ease of stability control, front and back wheel corner direction is in the same direction.Meanwhile, in relevant control
Under, this line traffic control Four wheel independent steering system can achieve the action such as diagonal, Eriocheir sinensiss row, pivot stud.
Line traffic control Four wheel independent steering system in technical scheme, drives knuckle to carry out turning with traditional with track rod
To steering compare, due to the constant speed of cage universal joint (9), the rotating speed that the rotating speed of motor output is rotated with knuckle becomes
Linear relationship, therefore can achieve the precise control to four-wheel corner.Meanwhile, jump etc. under operating mode in wheel, conventional steering system hard
Point changes, and this makes the corner of wheel under identical rack stroke there occurs change.Control is caused in control process
Error.This utility model passes through the application of cage universal joint (9) and power transmission shaft (4) so that taking turns motor corner and wheel when jumping
Corner ratio does not change, and therefore decreases the error in control process, increased the robustness of system.
Line traffic control Four wheel independent steering system in technical scheme, the arrangement of wherein dependency structure makes the stub of McPherson suspension
Leaning angle is reduced compared with traditional McPherson suspension, and this makes degree of tire abrasion less, and steering force reduces, and increases simultaneously
The riding stability of vehicle.
Brief description
Accompanying drawing gives a kind of structural scheme of mechanism of the line traffic control Four wheel independent steering system based on universal drive structure
Fig. 1 is the three-dimensional axonometric drawing based on the line traffic control Four wheel independent steering system of universal drive structure for this utility model
Fig. 2 is the power path figure based on the line traffic control Four wheel independent steering system of universal drive structure for this utility model
Fig. 3 is the actuating device based on the line traffic control Four wheel independent steering system of universal drive structure for this utility model and rotation
The three-dimensional axonometric drawing of device
Fig. 4 is the circuit controling drawing based on the line traffic control Four wheel independent steering system of universal drive structure for this utility model
Specific embodiment
With reference to utility model as shown in the figure, the line traffic control Four wheel independent steering system based on universal drive structure.This device by
Following part composition: electric rotating machine (1), decelerator (2), buffer unit (3), power transmission shaft (4), McPherson suspension system (5), rotation
Rotary device (6), gear pair (7), actuating device (8) and cage universal joint (9).
Referring to the drawings shown in 1, in rotary motion input universal drive structure after decelerator (2) deceleration of motor.This knot
Structure is made up of power transmission shaft (4) and cage universal joint (9).Afterwards, power inputs to actuating device (8) through this.Actuating device (8)
A part as McPherson suspension is arranged on knuckle.It is disposed with gear pair (7), by gear in actuating device (8)
Secondary (7) are changed to the size of power and direction.Gear pair (7) be rotated device (6) motion, rotary apparatuss (6) with turn
Connected by shaft coupling to section upper end, and then drive knuckle to be that steered wheel is moved.As shown in Figure 1, due to this four
Wheel independent steering system does not have the restriction of track rod, thus can achieve ± 90 ° of steering procedure.
Referring to the drawings shown in 2, it is the power path figure of the line traffic control Four wheel independent steering system based on universal drive structure.Its
Middle black arrow is powerdriven direction.Power by electric rotating machine (1) export, via decelerator (2), buffer unit (3), two
Individual cage universal joint (9), power transmission shaft (4), actuating device (8), gear pair (7), rotary apparatuss (6), finally by torque in
Knuckle makes it move, and realizes turning function.Known by power transmission line, steering output is little by the change of systematic parameter,
Simultaneously as cage universal joint (9) has constant speed, the change of hard spot parameter when wheel is jumped does not affect to input corner and wheel steering angle
Linear relationship, which increase control system support jamproof ability, lift system robustness.
Referring to the drawings shown in 3, be the actuating device (8) of line traffic control Four wheel independent steering system based on universal drive structure and
The three-dimensional axonometric drawing of rotary apparatuss (6).Actuating device (8) is made up of housing and gear pair (7)；The input of actuating device (8)
It is connected with cage universal joint (9), power is through in this input driving gear.Driving gear engages composition gear pair with driven gear
(7)；In the presence of gear pair (7), the size of power and direction change, and finally enter in rotary apparatuss (6).Rotation
Device (6) is series at driven gear, device (6) is rotated by driven gear and rotates.
Referring to the drawings shown in 4, it is the circuit controling drawing of the line traffic control Four wheel independent steering system based on universal drive structure.Side
To in disk angular signal and the incoming electronic control unit of relevant sensor signals, electronic control unit is optimal by being calculated
Four-wheel steering angle, makes four wheel independent steerings respectively.During low speed, control front and back wheel corner direction incorgruous, make go to action spirit
Live；During high speed, control front and back wheel corner direction in the same direction, be easy to stability control.Meanwhile, under relevant control, this line traffic control four-wheel
Independent steering system can achieve the actions such as diagonal, Eriocheir sinensiss row, pivot stud, has high motility it is adaptable to urban congestion
Under operating mode.
Claims (7)
1. a kind of line traffic control Four wheel independent steering system based on universal drive structure, its composition includes electric rotating machine (1), decelerator
(2), buffer unit (3), power transmission shaft (4), McPherson suspension system (5), rotary apparatuss (6), gear pair (7), actuating device (8)
And cage universal joint (9)；It is characterized in that, electric rotating machine (1) is connected by shaft coupling with decelerator (2) input shaft, decelerator
(2) output shaft connects buffer unit (3)；Power transmission shaft (4) two ends are in series with cage universal joint (9), this universal drive structure one
End is connected with buffer unit (3), and one end connects actuating device (8)；It is gear pair (7) inside actuating device (8), by this structure
So that the size of rotary motion and direction is changed, and power is reached rotary apparatuss (6) place；Rotary apparatuss (6) and knuckle
Connect, its rotation is driven by this device；Because this steering system structural does not have the restriction of track rod in traditional structure, because
And can achieve ± 90 degree of changes of wheel steering angle in steering procedure.
2. according to the line traffic control Four wheel independent steering system based on universal drive structure described in claim 1 it is characterised in that: institute
State buffer unit (3) to be made up of rubber, be shaped as annular；It is loaded among bearing block, make flexible connection between bearing and bearing block；
This device is used for relaxing the impact to system when wheel is jumped, and is simultaneously used for vibration during mitigation system work.
3. according to the line traffic control Four wheel independent steering system based on universal drive structure described in claim 1 it is characterised in that: institute
State actuating device (8) to be made up of housing and gear pair (7)；The input of actuating device (8) is connected with cage universal joint (9), moves
Power is through in this input driving gear；Driving gear engages composition gear pair (7) with driven gear；In the presence of gear pair (7),
The size of power and direction change, and finally enter in rotary apparatuss (6)；Input corner is line with the relation of wheel steering angle
Sexual intercourse.
4. according to the line traffic control Four wheel independent steering system based on universal drive structure described in claim 1 it is characterised in that: institute
State rotary apparatuss (6) to be series at driven gear；After power reaches gear pair (7), device (6) is rotated by driven gear and turns
Dynamic；Rotary apparatuss (6) are connected with knuckle by ball pivot；The rotation of rotary apparatuss (6) drives knuckle to rotate, and realizes wheel
± 90 ° of corners；In this course, rotary apparatuss (6) are force application component, and the hub assembly of knuckle and its connection is stress structure
Part.
5. according to the line traffic control Four wheel independent steering system based on universal drive structure described in claim 1 it is characterised in that: institute
The steering procedure power stating the line traffic control Four wheel independent steering system based on universal drive structure is exported by electric rotating machine (1), via
Decelerator (2), buffer unit (3), two cage universal joints (9), power transmission shaft (4), actuating device (8), gear pair (7), rotations
Device (6), finally drives knuckle motion, realizes turning function；Known by power transmission line, steering output is joined by system
The change of number is little, simultaneously as the constant speed of cage universal joint (9), the linear relationship of input corner and wheel steering angle is not with fixed
Position Parameters variation and change, which increase control system resist external interference ability, lift system robustness.
6. according to the line traffic control Four wheel independent steering system based on universal drive structure described in claim 1 it is characterised in that: institute
State based in the line traffic control Four wheel independent steering system of universal drive structure, feelings larger for improving McPherson suspension caster
Condition, the outer shifting that actuating device (8) is arranged is to reduce kingpin inclination；So that the stability of traveling is increased, reduce tire simultaneously
Abrasion；Less kingpin inclination also can reduce steering moment, and then reduces power of motor.
7. according to the line traffic control Four wheel independent steering system based on universal drive structure described in claim 1 it is characterised in that: institute
State based in the line traffic control Four wheel independent steering system of universal drive structure, steering wheel angle signal and relevant sensor signals are incoming
In electronic control unit, electronic control unit, by being calculated optimal four-wheel steering angle, makes four wheels independently turn respectively
To；Under relevant control, this line traffic control Four wheel independent steering system equally can achieve the action such as diagonal, Eriocheir sinensiss row, pivot stud.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620917939.9U CN205890974U (en) | 2016-08-22 | 2016-08-22 | Drive -by -wire four -wheel independent steering device system based on universal transmission structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620917939.9U CN205890974U (en) | 2016-08-22 | 2016-08-22 | Drive -by -wire four -wheel independent steering device system based on universal transmission structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205890974U true CN205890974U (en) | 2017-01-18 |
Family
ID=57777814
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620917939.9U Expired - Fee Related CN205890974U (en) | 2016-08-22 | 2016-08-22 | Drive -by -wire four -wheel independent steering device system based on universal transmission structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205890974U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106240628A (en) * | 2016-08-22 | 2016-12-21 | 吉林大学 | A kind of line traffic control Four wheel independent steering system based on universal drive structure |
| WO2023195444A1 (en) * | 2022-04-04 | 2023-10-12 | 株式会社デンソー | Steering control device |
-
2016
- 2016-08-22 CN CN201620917939.9U patent/CN205890974U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106240628A (en) * | 2016-08-22 | 2016-12-21 | 吉林大学 | A kind of line traffic control Four wheel independent steering system based on universal drive structure |
| WO2023195444A1 (en) * | 2022-04-04 | 2023-10-12 | 株式会社デンソー | Steering control device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170118 Termination date: 20190822 |