CN206125145U - Four -wheel independent steering device mechanism - Google Patents

Four -wheel independent steering device mechanism Download PDF

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Publication number
CN206125145U
CN206125145U CN201621096609.4U CN201621096609U CN206125145U CN 206125145 U CN206125145 U CN 206125145U CN 201621096609 U CN201621096609 U CN 201621096609U CN 206125145 U CN206125145 U CN 206125145U
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CN
China
Prior art keywords
steering
drive axle
bindiny mechanism
fuselage
gear
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Withdrawn - After Issue
Application number
CN201621096609.4U
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Chinese (zh)
Inventor
张文浩
邵东骁
郭阳东
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Nanjing University of Aeronautics and Astronautics
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Nanjing University of Aeronautics and Astronautics
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Priority to CN201621096609.4U priority Critical patent/CN206125145U/en
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Publication of CN206125145U publication Critical patent/CN206125145U/en
Withdrawn - After Issue legal-status Critical Current
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  • Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)

Abstract

The utility model relates to a four -wheel independent steering device mechanism belongs to automotive filed. This mechanism includes step motor, reduction gear, speed reducing gear pair, steering drive axle, bradyseism spring, turns to coupling mechanism etc. The steering moment process reduction gears of motor transmits the steering drive axle, touches the knuckle through the ball joint and provides steering moment for wheel assembly. Turn to motor, the reduction gear of this structure all integrate in turning to coupling mechanism. The utility model discloses compact structure, steering mechanism is novel, turns to the flexibility, and the use of bradyseism spring has improved travelling comfort and stability that the vehicle travel, simultaneously to four wheel independent drive, independent braking and independent steering device electric wheel automobile's research and development with design significantly.

Description

Four-wheel independent steering gear
Technical field
The utility model is related to automotive field, more particularly to a kind of four-wheel independent steering gear.
Background technology
Along with the continuous development of the new-energy automobile based on electric automobile and intelligent automobile, increasing intelligence collection Electric automobile field is applied to into change technology, traditional automobile steering system gradually cannot because of its complicated frame for movement Adapt to the development need of its increasingly integrated and intelligentized control method.
At present domestic existing four-wheel independent steering technology, is driven by reducing gear with independent steer motor and is turned to more Axle, directly drives pivot stud, realizes large range of steering angle deflection.As Chinese patent literature CN103072627A is disclosed A kind of electric chassis of four-wheel independent steering, its structure is that stepper motor is connected to vehicle frame by stepper motor seat, and stepping is electric Machine is connected by flat key with turbine and worm decelerator, and turbine and worm decelerator is connected with steering spindle by shaft coupling, is turned to Axle is coordinated by a pair of taper roll bearings with steering column jacket, and steering column jacket is connected with Frame Welding, at the same steering spindle with it is electronic Wheel hub is fixedly connected.Above-mentioned steering mechanism's arrangement span is larger, causes the global design of vehicle body more difficult, Shortcomings.
Utility model content
The utility model aims to provide a kind of four-wheel independent steering gear, is applied to four-wheel independent steering automobile.
A kind of four-wheel independent steering gear, it is characterised in that:Including steering bindiny mechanism's fuselage and machine body cover;Turn to connection Stepper motor, decelerator, motor reducer assembly travelling gear, steering drive axle are installed in mechanism's fuselage to connect gear, turn To power transmission shaft;The steering drive axle is installed in steering bindiny mechanism fuselage by a pair of taper roll bearings, turns to transmission Axle connection gear is installed on steering drive axle;The stepper motor is fixedly connected with bindiny mechanism fuselage is turned to, decelerator with The output shaft of stepper motor is connected;The motor reducer assembly travelling gear is connected gear engagement with steering drive axle;It is above-mentioned Steering bindiny mechanism fuselage is stretched out at the two ends of steering drive axle, and is connected to the upper of wheel set by ball contact slewing journal structure Between lower connecting plate ear;It is located at simultaneously and turns between bindiny mechanism's fuselage and upper junction plate ear, steering bindiny mechanism fuselage is with Bradyseism spring is mounted on steering drive axle between connecting plate ear;Turn to bindiny mechanism's fuselage and on the one hand pass through articulated manner It is connected with automobile frame, its hinge axes is vertical with steering drive axle axis;On the other hand by suspension shock mitigation system and automobile Vehicle frame connects.
The method of work of the four-wheel independent steering gear, it is characterised in that:The steering moment of the stepper motor is passed through Decelerator, motor reducer assembly travelling gear, steering drive axle connection gear, steering drive axle are delivered to wheel, realize car Rotate to;Suspension shock mitigation system provides the vibration damping in analysis of wheel vertical direction;Bradyseism spring coordinates the ball contact of steering drive axle to turn to Nodule structure, wheel be subject to larger side impacting force when can realize wheel in axis it is constant in the case of swing.
In above-mentioned four-wheel independent steering gear, the power unit includes that stepper motor, decelerator, the stepper motor are consolidated The fuselage for turning to bindiny mechanism is connected to, is connected with the electronic control unit of electric automobile, the rated power root of the stepper motor Determine according to whole-car parameterses and mobility design requirement.
In above-mentioned four-wheel independent steering gear, integrated stepper motor, decelerator, decelerating through motor in the steering bindiny mechanism Device assembly travelling gear, steering drive axle connection gear, steering drive axle, taper roll bearing, the compact connection of each part, this turn The driving dynamics of automobile can be delivered to vehicle frame to bindiny mechanism, while with relative frame bob spring can be coordinated to subtract The bob that shake system buffer wheel causes in uneven road surface because of vertical load, while the steering bindiny mechanism small volume, Flexibly turning to for wheel can be realized, each part connection is compact, and the global design for making vehicle body is more prone to.
In above-mentioned four-wheel independent steering gear, the power unit is driven by motor reducer assembly travelling gear and is turned to Power transmission shaft connects gear, the transmission power of gear connection and applied widely, the transmission efficiency of speed, compact conformation, work It is reliable.
In above-mentioned four-wheel independent steering gear, the steering drive axle is fixed on steering and connects by a pair of taper roll bearings In the fuselage of connection mechanism, taper roll bearing can bear big radial load and axial load, and bearing capacity more preferably, is turned to and passed The upper and lower ends of moving axis respectively be vertically connected with plate ear by ball contact slewing journal structure be connected, steering moment is delivered to into car Wheel.
In above-mentioned four-wheel independent steering gear, the bradyseism spring be located at turn to bindiny mechanism's fuselage and upper junction plate ear it Between and turn between bindiny mechanism's fuselage and lower connecting plate ear steering drive axle on, coordinate the ball to contact slewing journal structure energy Enough buffer the impact of wheel vertical force and side force when high speed or wide-angle are turned to.
Bradyseism spring described in technical scheme can play a part of one-level bradyseism, coordinate suspension shock mitigation system to constitute two Level damping, the suspension shock mitigation system coordinates the rotation pair for turning to bindiny mechanism and vehicle frame, can meet wheel in uneven road surface The lower bob caused because of vertical load.
The utility model is a kind of four-wheel independent steering gear, and steering mechanism is novel, and each part connection is compact, turns to spirit Living, it is possible to achieve four-wheel independent steering, the global design for making vehicle body is more prone to, bradyseism spring coordinates ball contact to turn to nodule Structure, improves the comfortableness and stability of vehicle traveling.Four-wheel independent steering electric automobile is applied to, with reference to line traffic control intelligent integrated control Technology processed, can not only realize good turning function and steering characteristic, meanwhile, it is the integrated development and intelligence of chassis electric-control system Energyization development provides physically better platform.
Description of the drawings
Accompanying drawing 1 is the structural representation of the four-wheel mechanism of independent wheel control steering mechanism;
Accompanying drawing 2 is the lateral partial structurtes sectional view of the four-wheel mechanism of independent wheel control steering mechanism;
Accompanying drawing 3 is the top partial view diagram of the steering bindiny mechanism;
Label title in figure:1 is to turn to bindiny mechanism fuselage, and 2 is vehicle frame, and 3 is telescopic shock absorber, and 4 is helical spring, 5 It is spring support seat, 6 is to turn to bindiny mechanism's machine body cover, and 7 is wheel set, and 8 is bradyseism spring, and 9 is upper junction plate ear, and 10 are Stepper motor, 11 is decelerator, and 12 is motor reducer assembly gear connection flat key, and 13 is to turn to bindiny mechanism's machine body cover spiral shell Bolt, 14 is steering drive axle, and 15 is steering drive axle gear position limiting block, and 16 is that machine body cover adjusts packing ring with fuselage gap, and 17 are Taper roll bearing, 18 is lower connecting plate ear, and 19 is taper roll bearing location nut, and 20 is that the connection of steering drive axle gear is flat Key, 21 is ball contact slewing journal structure, and 22 is motor reducer assembly gear shaft, and 23 is to turn to bindiny mechanism's body to connect with vehicle frame Hole is connect, 24 is to turn to bindiny mechanism's screwed hole, and 25 is motor reducer assembly travelling gear, and 26 is steering drive axle tooth connection Wheel.
Specific embodiment
The technical scheme that below in conjunction with the accompanying drawings 1,2, the 3 pairs of the utility model are provided illustrated in more detail, these realities The practical structures and assembling situation for applying example are shown in the accompanying drawings and are described as follows.Can also do on the basis of the utility model Go out the change or change of other forms, also all of embodiment cannot be exhaustive here.By of the present utility model One technological means is replaced or technical scheme obtained from any number of technical characteristics of the utility model are mutually combined is in this reality Within new protection domain.
As shown in figure 1, turn to bindiny mechanism being in the present embodiment hinged with vehicle frame 2, suspension shock mitigation system upper end and vehicle frame 2 Connection, lower end is connected with bindiny mechanism is turned to, and steering drive axle 14 is total with wheel by upper junction plate ear 9 and lower connecting plate ear 18 Into 7 connections, integrated wheel hub motor and electric brake mechanism in the wheel set 7, Automobile drive power is by turning to bindiny mechanism Driving moment is delivered to into vehicle frame 2, wheels travel is realized, each stepper motor 10 is independent to drive a wheel, by the company of steering Steering moment is delivered to wheel 7 by connection mechanism, realizes four-wheel independent steering.
As shown in Figures 2 and 3, bindiny mechanism is turned in the present embodiment includes fuselage 1 and the two parts of machine body cover 6, machine body cover 6 With the bolt connection of fuselage 1, gap can be adjusted by adjusting packing ring 16, the installation for steering drive axle 14 provides surplus, described Turn to the integrated stepper motor 10 of bindiny mechanism, decelerator 11, motor reducer assembly travelling gear 25, steering drive axle tooth connection Wheel 26, steering drive axle 14, taper roll bearing 17, the stepper motor 10 is fixedly connected with bindiny mechanism's fuselage 1 is turned to, institute State motor reducer assembly travelling gear 25 and be connected gear 26 with steering drive axle and engage, steering drive axle connection gear 26 passes through Flat key 20 is connected with steering drive axle 14, and the steering drive axle 14 is consolidated by a pair of taper roll bearings 17 by location nut 19 It is scheduled in the fuselage 1 for turning to bindiny mechanism, location nut 19 is threadedly coupled with the fuselage 1 for turning to bindiny mechanism, the stepping electricity The steering moment of machine 10 is through decelerator 11, motor reducer assembly travelling gear 25, steering drive axle connection gear 26, steering Power transmission shaft 14 is delivered to wheel, realizes wheel steering.
As shown in Fig. 2 in the present embodiment ball contact slewing journal structure 21 is by the end ball of steering drive axle 14 and upper Lower connecting plate ear two parts are constituted, and arc channel suspending rail is provided with the ball of end, and connecting plate ear indoor design has hemispherical circular groove, are turned Gap is left between the end ball and connecting plate ear of power transmission shaft 14, still can be steady when wheel is beated on uneven road surface Determine transmitting torque, the bradyseism spring 8 is used as first order shock-damping structure, including upper and lower two parts, the top of upper bradyseism spring It is connected with upper junction plate ear 9, bottom is connected to the machine body cover 6 for turning to bindiny mechanism, the top of lower bradyseism spring is connected with turning to The fuselage 1 of mechanism connects, and bottom is connected with lower connecting plate ear 18, coordinates ball contact knuckle 21 both to have buffered wheel at a high speed Or wide-angle turn to when vertical force and side force impact, wheel swinging in the case of axis is constant can be realized again.
When driver's driving is turned, give finished vehicle electronic control unit one turn signal by steering wheel rotation, The control output torque of stepper motor 10, by torque transmitting gear steering drive axle 14 is imparted power to, described to turn to transmission The steering moment of axle 14 is delivered to wheel set 7 by ball contact knuckle 21, realizes that wheel is accurately turned to.

Claims (2)

1. a kind of four-wheel independent steering gear, it is characterised in that:
Including steering bindiny mechanism fuselage(1)And machine body cover(6);Turn to bindiny mechanism's fuselage(1)Stepper motor is inside installed (10), decelerator(11), motor reducer assembly travelling gear(25), steering drive axle connection gear(26), steering drive axle (14);
The steering drive axle(14)By a pair of taper roll bearings(17)It is installed on steering bindiny mechanism fuselage(1)It is interior, turn Connect gear to power transmission shaft(26)It is installed on steering drive axle(14)On;The stepper motor(10)With steering bindiny mechanism fuselage (1)It is fixedly connected, decelerator(11)With stepper motor(10)Output shaft be connected;The motor reducer assembly travelling gear (25)It is connected gear with steering drive axle(26)Engagement;
Above-mentioned steering drive axle(14)Two ends stretch out steering bindiny mechanism fuselage(1), and slewing journal structure is contacted by ball (21)It is connected to wheel set(7)Be vertically connected between plate ear;It is located at simultaneously and turns to bindiny mechanism's fuselage(1)With upper junction plate Ear(9)Between, turn to bindiny mechanism's fuselage(1)With lower connecting plate ear(18)Between steering drive axle(14)On be mounted on delaying Shake spring(8);
Turn to bindiny mechanism's fuselage(1)On the one hand by articulated manner and automobile frame(2)Connection, its hinge axes are passed with turning to Moving axis(14)Axis is vertical;On the other hand by suspension shock mitigation system and automobile frame(2)Connection.
2. four-wheel independent steering gear according to claim 1, it is characterised in that:
Above-mentioned suspension shock mitigation system includes cartridge type decelerator(3)And it is placed on cartridge type decelerator(3)Outer helical spring(4).
CN201621096609.4U 2016-09-30 2016-09-30 Four -wheel independent steering device mechanism Withdrawn - After Issue CN206125145U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201621096609.4U CN206125145U (en) 2016-09-30 2016-09-30 Four -wheel independent steering device mechanism

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201621096609.4U CN206125145U (en) 2016-09-30 2016-09-30 Four -wheel independent steering device mechanism

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CN206125145U true CN206125145U (en) 2017-04-26

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106335542A (en) * 2016-09-30 2017-01-18 南京航空航天大学 Four-wheeled independent steering mechanism and working method
CN108556581A (en) * 2018-06-25 2018-09-21 汕头大学 A kind of automobile-used independent suspension type double drive double steering four-wheel drive mechanism of weeding
CN108688425A (en) * 2018-04-28 2018-10-23 湖南文理学院 A kind of transmission component of intelligence horticultural tractor
CN109673297A (en) * 2019-01-07 2019-04-26 北京信息科技大学 A kind of trimming machine cuts people
CN110053660A (en) * 2019-06-06 2019-07-26 吉林大学 A kind of steering-by-wire mechanism and its control method for electric wheel drive vehicle
CN115071813A (en) * 2022-02-28 2022-09-20 优跑汽车技术(上海)有限公司 Steering device for hub motor, angle unit, traveling device and electric vehicle

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106335542A (en) * 2016-09-30 2017-01-18 南京航空航天大学 Four-wheeled independent steering mechanism and working method
CN106335542B (en) * 2016-09-30 2018-08-03 南京航空航天大学 Four-wheel independent steering gear and working method
CN108688425A (en) * 2018-04-28 2018-10-23 湖南文理学院 A kind of transmission component of intelligence horticultural tractor
CN108556581A (en) * 2018-06-25 2018-09-21 汕头大学 A kind of automobile-used independent suspension type double drive double steering four-wheel drive mechanism of weeding
CN109673297A (en) * 2019-01-07 2019-04-26 北京信息科技大学 A kind of trimming machine cuts people
CN109673297B (en) * 2019-01-07 2024-02-27 北京信息科技大学 Pruning robot
CN110053660A (en) * 2019-06-06 2019-07-26 吉林大学 A kind of steering-by-wire mechanism and its control method for electric wheel drive vehicle
CN110053660B (en) * 2019-06-06 2024-02-06 吉林大学 Drive-by-wire steering mechanism for electric wheel drive automobile and control method thereof
CN115071813A (en) * 2022-02-28 2022-09-20 优跑汽车技术(上海)有限公司 Steering device for hub motor, angle unit, traveling device and electric vehicle

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Granted publication date: 20170426

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