CN206528518U - The system that wheel can be made to turn to any angle and the different steering angles of coordination with one another - Google Patents
The system that wheel can be made to turn to any angle and the different steering angles of coordination with one another Download PDFInfo
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- CN206528518U CN206528518U CN201720056068.0U CN201720056068U CN206528518U CN 206528518 U CN206528518 U CN 206528518U CN 201720056068 U CN201720056068 U CN 201720056068U CN 206528518 U CN206528518 U CN 206528518U
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- 230000035939 shock Effects 0.000 claims abstract description 22
- 230000000116 mitigating effect Effects 0.000 claims abstract description 19
- 238000013016 damping Methods 0.000 claims description 17
- 230000000694 effects Effects 0.000 claims description 15
- 239000000725 suspension Substances 0.000 claims description 6
- 230000007246 mechanism Effects 0.000 claims description 5
- 230000005611 electricity Effects 0.000 claims description 4
- 230000002093 peripheral effect Effects 0.000 claims description 2
- 238000005452 bending Methods 0.000 claims 1
- 230000009471 action Effects 0.000 abstract description 2
- 238000005299 abrasion Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 2
- 238000005253 cladding Methods 0.000 description 2
- 230000003247 decreasing effect Effects 0.000 description 2
- 239000012530 fluid Substances 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000009877 rendering Methods 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 241000826860 Trapezium Species 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 238000003915 air pollution Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000843 powder Substances 0.000 description 1
- 230000003134 recirculating effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 210000001138 tear Anatomy 0.000 description 1
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Abstract
The technical scheme that the utility model is used is：A kind of system that wheel can be made to turn to any angle and the different steering angles of coordination with one another, it can be applicable on any wheeled load carrier, any angle, chassis and control box are turned to including possessing the wheel hub motor wheel in separate power source, shock mitigation system, brakes, hanger, steering motor, fixed support, the space outputed on chassis for wheel, the system possesses one to several wheels, each wheel can independent steering any angle, can also coordinate one or more any wheels to turn special angle.Original place zero radius of gyration u-turn action of 180 degree, parallel parking can be completed, moved from inactive state to any direction, oblique movement, high speed steering when can be using a variety of wheel steering patterns under drift mode and various friction speeds, inside and outside Side wheels can with coordination with one another, make under friction speed, interior outside tire steering angle optimize, can largely reduce tire wear.
Description
Technical field
What the utility model was related to is that one kind can make wheel turn to any angle and the different steering angles of coordination with one another
System, can be applicable to the wheeled load carrier that can be travelled on land not against track
Background technology
Automobile steering system be exactly for wheeled car driver by a set of ad hoc mechanism, make steering axle of automobile
Wheel (deflecting roller) on (being usually propons) is relative to longitudinal vehicle axis deflection certain angle
Mechanical steering system this list of elements and part from steering wheel to steering drive axle belong to steering control mechanism, by
It is main that pitman arm to this list of elements of steering trapezium and part belongs to steering gear mechanical type hydraulic force aid systems
Including rack-and-pinion steering structure and hydraulic system two parts, hydraulic system includes hydraulic booster pump, hydraulic cylinder, piston etc..Work
It is to provide oil pressure by hydraulic pump (being driven by dynamo belt) to promote piston as principle, and then generation auxiliary force is promoted to turn to and drawn
Bar, auxiliary wheel is turned to.
Mechanical valve body on steering machine, can be rotated with steering column, when steering wheel is not rotated, and valve body keeps former
Position, the oil pressure of piston both sides is identical, in poised state.When steering wheel is rotated, steering control valve will open accordingly or
Person closes, and side fluid continues to inject in hydraulic cylinder, and opposite side fluid is directly back to oil storage tank without hydraulic cylinder, so
Piston both sides will produce pressure difference and be promoted, and then produce auxiliary force promotion steering linkage, make the lighter of steering
Power steering system is added on the basis of mechanical steering system formed by a set of power steering gear.
_ developing rapidly with auto industry, also great changes have taken place for the structure of transfer.The structure of automobile steering device is very
Many, from the point of view of the prevalence used, main steering gear type has 4 kinds：Worm screw Shore (WP types), worm screw roller type (WR
Type), circulating ball type (BS types), rack-gear type (RP types).These four steering gear patterns, have been widely used on automobile.
Worldwide, Recirculating Ball Steering Gear for Motor Vehicles accounts for 45% or so, and rack-and-pinion steering device accounts for 40% or so, worm screw roller
Formula steering gear accounts for 10% or so, and the steering gear of other patterns accounts for 5%.
Above-mentioned steering, which is all limited to tire, to be needed to be connected with axletree.Because pitman arm is with steering drag link and steering
The structure of joint arm necessarily has dead point, so general front-wheel can not be excessive to medial and lateral rotational angle, most 60 degree.So vehicle
U-turn turn to can only carry out at an angle, do not accomplish no-radius turn around, it is parallel parking or to any angle it is parallel move
It is dynamic.And when turning to, because interior outside tire steering angle is essentially identical, inner side steering tire is by bigger pressure
Power, therefore the abrasion of inner side steering tire is greater than outside steering tire, due to security reason, changes necessary medial and lateral during tire
Tire is changed together, and this just wastes the slight outside tire that weares and teares, and the tire worn and torn turns into powder and pollutes air, the world one
The tire that year consumes has several ten million tons, if outside tire abrasion is averagely in causing, it becomes possible to extend the life-span of tire, to individual
For people, unnecessary tire consumption can be greatly decreased, for country, the unnecessary wasting of resources can be greatly decreased.
Utility model content
The utility model provides a kind of and entirely different steering of existing conventional truck, because without axletree,
So each wheel can turn to any angle, it can also be cooperated with the collocation of other wheels.
To solve the above problems, the technical scheme that the utility model is used is：One kind can make wheel turn to random angle
The system of the different steering angles of simultaneously coordination with one another is spent, be can be applicable on any wheeled load carrier, including possess separate power
The wheel hub motor wheel in source, shock mitigation system, brakes, hanger, steering motor, fixed support, the space outputed on chassis are supplied
Wheel turns to any angle, chassis and control box, because steering motor is integrally fixed on fixed support, and is opened on chassis
The space arbitrarily turned to for wheel is left in hole, with driven by power steering motor during wheel steering, and steering motor rotates hanger,
Therefore hanger can turn to any angle, and wheel hub motor wheel is integrally fixed on hanger, therefore possess separate power
The wheel hub motor wheel in source just can be turned to, each wheel can independent steering any angle, can also coordinate arbitrarily other wheels
Turn special angle.
Wheel hub motor can be arranged on there is provided the power for advancing and retreating on wheel or hanger, therefore is not needed traditional
Petrol engine and power transmission shaft, after the limitation without power transmission shaft, wheel is with regard to that can turn to any angle
Inside and outside wheel rotational angle is by control box control, when being turned at various speeds, from low-angle to wide-angle,
The best fit of the interior foreign steamer cooperation steering angle of each rotational angle.
Preferably, the wheel hub motor wheel described in utility model content, it is characterised in that：Wheel hub electricity is installed on wheel
Machine can provide wheel power, be available for having brake disc and brake caliper in wheel forward-reverse, wheel, wheel can be braked,
Have a damping braking motor, the second shock mitigation system, rotation mode has 6 kinds, (i) the first：Take turns inner wheel hub motor centrifugal rotation, axis
Do not turn, axis is fixed on hanger both sides, the movable parts such as bearing ball be with wheel, outside axis, can make wheel around
Central axis；(ii) second：When taking turns inner wheel hub motor with middle shaft rotation drive wheel rotation, now bearing ball is arranged on outstanding
Suspension bracket both sides, are not resided on wheel, can make axis smooth rotation；(iii) third and fourth kind：Wheel inner wheel hub motor is not resided at
Home position, the other positions in wheel, through mechanical device, makes wheel centrifugal rotation or middle shaft rotation, during centrifugal rotation,
The movable parts such as bearing ball are with wheel, outside axis, wheel can be made around central axis, during middle shaft rotation, now bearing
Ball is arranged on hanger both sides, does not reside on wheel, can make axis smooth rotation；(iv) the 5th, six kind：Wheel hub motor is not
In wheel, on hanger side, through mechanical device, make wheel centrifugal rotation or middle shaft rotation, centrifugal rotation
When, the movable parts such as bearing ball are with wheel, outside axis, wheel can be made around central axis, during middle shaft rotation, hanger
The movable parts such as bearing ball are installed outside offside, axis, axis smooth rotation can be made.
Preferably, the wheel hub motor described in utility model content, it is characterised in that：It can be fixed on any on wheel frame
Position, it could be secured on hanger, for rotating wheel frame and tire.Each wheel hub motor individually can be controlled to rotate and advanced
The direction of retrogressing, and being cooperated with other one or more wheel hub motors, wheel hub motor can resistive braking, and in delivery vehicle
It is stored in when inertia is moved as generator, generating in battery.
Preferably, the steering motor described in utility model content, it is characterised in that：It is fixed on fixed support, can
So that hanger turned into any angle, steering motor, which is rotated, can control hanger to turn to any angle, can make it is forward and backward, interior,
Outside, the rotational angle of each tire and/or each group tire is all inconsistent, can all unanimously can also make at various speeds, Mei Yizhuan
To the different best fit of the inside and outside Side tires steering angle of angle.
Preferably, the hanger described in utility model content, it is characterised in that：Upper end is fixed on fixed support,
Any angle can be turned to, wheel axis is fixed in hanger lower end, and no matter wheel hub motor is arranged on any position in wheel, works as wheel
During middle shaft rotation, now bearing ball is arranged on hanger both sides；When wheel centrifugal rotation, the rolling of hanger both sides bearing-free
Pearl, now bearing ball axis in wheel is peripheral；When wheel hub motor is arranged on hanger side, bearing ball is arranged on outstanding
Suspension bracket offside axis periphery, makes axis smooth rotation, hanger middle-end is provided with the first damper, and steering wheel has circuit to be connected to
Hanger, with driven by power steering motor during wheel steering, steering motor rotate hanger, due to wheel axis be fixed on it is outstanding
Suspension bracket lower end, so while hanger rotation, wheel also rotates identical direction and angle with hanger, therefore can complete
The purpose of steering.
Preferably, the shock mitigation system described in utility model content, it is characterised in that：First on hanger
The second shock mitigation system around damper and wheel hub motor wheel, both damping effects by control box control and can be distributed, second
Shock mitigation system includes active shock in wheel, active air spring, damping braking motor in wheel, and damping braking motor can be installed
In wheel, it can also be arranged on any position of hanger, the first damper and the second shock mitigation system can be set with both of which,
A setting can also be selected.
Preferably, brakes described described in utility model content, it is characterised in that：Electricity comprising wheel hub motor
The braking equipment such as resistance braking and brake disc, the mechanical braking of brake caliper
Preferably, the fixed support described in utility model content, it is characterised in that：It is fixedly arranged above hanger and turns
To motor, lower section is fixed on chassis, through the system the stress of delivery vehicle can be transferred into ground.
Preferably, the space outputed on chassis described in utility model content, it is characterised in that：Outputed on chassis
Space can be any shape, as long as size turns to any direction for wheel enough
Preferably, the control box described in utility model content, it is characterised in that：By single-chip microcomputer, motor driving, control
Panel constitutes, receives signal from the sensor on direction control mechanism, outputs signals to steering motor, control box passes through
Control circuit can control each wheel, thus the one group of wheel in one group of front and rear steering direction with angle, can it is identical,
Also can be different, control box can preset steering pattern or manually adjust different steering patterns, control box under steam
The angle of wheel can be controlled, the angle for allowing interior outboard wheel to turn to is different, and have different inside and outside at different speeds
The steering angle of collocation is taken turns, control box can also control and distribute the damping effect of first and second shock mitigation system, control and distribute
When resistive braking and the braking effect of mechanical braking, and control wheel hub motor resistive braking and switch to generator,
And store energy in battery
Due to using above-mentioned technical proposal, the utility model has the advantages that compared with prior art：According to this
The delivery vehicle of utility model equipment, can complete original place zero radius of gyration u-turn action of 180 degree, parallel parking, from static
State is moved to any direction, oblique movement, high speed steering when can be using a variety of under drift mode and various friction speeds
Wheel steering pattern, inside and outside Side wheels can with coordination with one another, make under friction speed, interior outside tire steering angle optimize,
Tire wear can largely be reduced
Brief description of the drawings
Fig. 1 is volume rendering Fig. 1 of the utility model steering：Fixed support is identical with wheel direction of advance.
Fig. 2 is volume rendering Fig. 2 of the utility model steering：Fixed support is vertical with wheel direction of advance.
Fig. 3 is the wheel hub motor wheel external view of the utility model steering.
Fig. 4 is that structure chart 1 is regarded in the wheel hub motor wheel of the utility model steering.
Fig. 5 is that structure chart 2 is regarded in the wheel hub motor wheel of the utility model steering.
Fig. 6 is that structure chart 3 is regarded in the wheel hub motor wheel of the utility model steering.
Fig. 7 is that structure chart 4 is regarded in the wheel hub motor wheel of the utility model steering.
Fig. 8 is the hanger structure chart of the utility model steering.
Fig. 9 be mounted with this steering delivery vehicle run at high speed under high speed steering figure, and from inactive state to 45
Spend the top view of diagonal.
Figure 10 be mounted with this steering delivery vehicle run at a low speed under low speed steering figure.
Figure 11 is the top view for 90 degree of parallel parkings for being mounted with this steering delivery vehicle.
Figure 12 is the top view for the 180 degree rotation u-turn for being mounted with this steering delivery vehicle：Delivery vehicle is with quality
Center of gravity rotates for the center of circle, and in four wheels coordination with one another, each 35 degree of -55 degree of rotation can reach direct 180 degree and turn around, turn round
The effect that radius is zero.
Figure 13 is the tire upper schematic diagram of the utility model steering
Coding rule
One coding stands, one part or position, one and same coding can occur in various figures.
It, in order to illustrate the linkage between part, is to illustrate the utility model in Fig. 9-13 that the part of coding, which is,
Practical performance.So the part of the inside is not re-encoded.
Part coding explanation
1 wheel hub motor wheel：Installation wheel hub motor, braking equipment, shock-absorption device on wheel.
2 first dampers.
3 hanger
4 steering motors.
5 fixed supports.
The space that 6 chassis are outputed：Leave the space arbitrarily turned to for wheel.
7 chassis.
8 control box：Control angle that each wheel turns to, how the pattern for cooperate, turning to other wheels, control simultaneously divides
Damping effect with first and second shock mitigation system, controls and distributes resistive braking and the braking effect of mechanical braking, and control
When wheel hub motor processed resistive braking and switch to generator.
9 bearings：On wheel, the bearing of axis periphery.
10 axis.
11 wheel hub motors.
12 brake calipers.
13 brake discs.
Active shock in 14 wheels.
15 damping braking motors.
Active air spring in 16 wheels.
17 bearings：Bearing in hanger side, axis periphery.
18 control panels
19 single-chip microcomputers
20 motors drive
21 sensors：On direction control mechanism, control box is connected to
Embodiment
The utility model is made in conjunction with the accompanying drawings and embodiments and being further illustrated, and illustrates to play a part of.Referring to
Illustrative embodiments of the present utility model are described in detail accompanying drawing.To the descriptions of illustrative embodiments merely for the sake of
Demonstration purpose, and be definitely not to the utility model and its application or the limitation of usage.
Embodiment 1：
As described in Figure 1, with driven by power steering motor 4 during wheel steering, by control box 8, steering motor 4 rotates outstanding
Suspension bracket 3, hanger 3 is fixed on fixed support 5, and fixed support 5 is fixed on chassis 7, and the space 6 that chassis is outputed is supplied enough
Wheel is arbitrarily turned to, therefore hanger 3 can turn to any angle, and the axis of wheel hub motor wheel 1 is fixed on hanger 3, therefore is worked as
When hanger 3 turns to any angle, wheel hub motor wheel 1 also goes to any angle.
As described in Fig. 1 and Fig. 4-7, wheel hub motor 11 is housed on wheel hub motor wheel 1, therefore, it is possible to forward-reverse wheel hubs electricity
Also possesses the function of resistive braking on wheel 1 equipped with brake caliper 12, brake disc 13, wheel hub motor 11, therefore, it is possible to brake.
Embodiment 2：
There are the first damper and wheel hub motor wheel on hanger as described in Fig. 1 and Fig. 4-8, in this steering
Second shock mitigation system of surrounding, both damping effects can be controlled and distributed by control box 8, and the second shock mitigation system includes main in wheel
Active air spring 16, damping braking motor 15 in dynamic damper 14, wheel, damping braking motor 15 may be mounted at wheel hub motor
In wheel 1, it can also be arranged on any position of hanger 3, the first damper and the second shock mitigation system can be set with both of which,
A setting can also be selected.
Embodiment 3：
,, can be with control wheel inside brake clamp by control box 8 when brake is stepped in driving as described in Fig. 1-2 and Fig. 4-7
Brake disc, while starting the resistive braking function of wheel hub motor 11, completes braking, wheel inside brake clamp 12 and wheel hub motor 11
The proportioning of resistive braking effect can also be controlled by control box 8.
Embodiment 4：
As described in Figure 4, the rotation mode of wheel hub motor 11 has 6 kinds, the first centrifugal rotation of wheel inner wheel hub motor 11, axis
10 do not turn, and axis 10 is fixed on the both sides of hanger 3, are with the movable parts such as bearing 9 on wheel, outside axis 10, can make wheel
Rotated around axis 10.
Embodiment 5：
As described in Figure 5, the rotation mode of wheel hub motor 11 has 6 kinds, and second of wheel inner wheel hub motor 11 is rotated with axis 10
When driving wheel rotation, now bearing 17 is arranged on the both sides of hanger 3, and now bearing 17 is arranged on the both sides of hanger 3, uneasy
On wheel, the smooth rotation of axis 10 can be made, the two ends of axis 10 are suspended the both sides of frame 3 cladding, and wheel still can be with outstanding
Suspension bracket 3 turns to any direction.
Embodiment 6：
As described in Figure 6, the rotation mode of wheel hub motor 11 has 6 kinds, and the third wheel inner wheel hub motor 11 does not reside at the center of circle
Position, the other positions in wheel, through mechanical device, makes wheel centrifugal rotation, during centrifugal rotation, on wheel, axis 10
Bearing 9 is with outside, wheel can be made to rotate around axis 10
Embodiment 7：
As described in Figure 7, the rotation mode of wheel hub motor 11 has 6 kinds, and the 4th kind of wheel inner wheel hub motor 11 does not reside at the center of circle
Position, the other positions in wheel, through mechanical device, rotates wheel axis 10, when axis 10 rotates, now bearing 17
Installed in hanger both sides, do not reside on wheel, the smooth rotation of axis 10 can be made, the two ends of axis 10 are suspended the both sides of frame 3 bag
Cover, wheel still can turn to any direction with hanger 3.
Embodiment 8：
With reference to Fig. 4 and Fig. 6, the rotation mode of wheel hub motor 11 has 6 kinds, and the 5th kind of wheel hub motor 11 is not resided in wheel,
On the side of hanger 3, through mechanical device, make wheel centrifugal rotation, during centrifugal rotation, on wheel, the periphery of axis 10
There is bearing 9, wheel can be made to rotate around axis 10
Embodiment 9：
With reference to Fig. 5 and Fig. 7, the rotation mode of wheel hub motor 11 has 6 kinds, and the 6th kind of wheel hub motor 11 is not resided in wheel,
On the side of hanger 3, through mechanical device, rotate wheel axis 10, axis 10 rotate when, the offside of hanger 3, in
Bearing 17 is installed outside axle 10, the smooth rotation of axis 10 can be made, the one end of wheel axis 10 is suspended the side of frame 3 cladding, one end quilt
Wheel hub motor 11 is coated, and wheel still can turn to any direction with hanger 3.
Embodiment 10：
As described in Figure 2, fixed support 5 may be mounted on the position vertical with wheel direction of advance, other functions and work
It is identical that Fig. 1 parallel with wheel direction of advance is arranged on mode and fixed support 5.
Embodiment 11：
As described in Fig. 1,2, fixed support 5 is fixedly arranged above hanger 3 and steering motor 4, and steering motor 4 can rotate suspention
Frame 3, the lower section of fixed support 5 is fixed on chassis, through the system the stress of delivery vehicle can be transferred into ground.
Embodiment 12：
As described in Fig. 1,2, the space 6 outputed on chassis, is that space is outputed on chassis, can be it is circular, square or appoint
What shape, turns to the space size of any direction for wheel enough, each falls within protection domain of the present utility model as long as having.
Embodiment 13：
As described in Fig. 1,2, control box 8 can control the steering direction of one group of front and the one group of wheel in rear with angle, can
It is identical, also can be different, control box can preset steering pattern or manually adjust into different steering moulds under steam
Formula, control box can control the angle of wheel, and the angle for allowing interior outboard wheel to turn to is different, and has at different speeds not
The steering angle of same interior foreign steamer collocation, control box can also control and distribute the damping effect of first and second shock mitigation system, control
Make and distribute resistive braking and the braking effect of mechanical braking, and when when control wheel hub motor resistive braking and switch to
Generator, and store energy in battery.
Embodiment 14：
As described in Figure 13, hanger 3 is rotated by steering motor 4, the intermediate axle lock of wheel hub motor wheel 1 is on hanger 3, therefore wheel
Hub motor wheel 1 can go to A2 points clockwise, counterclockwise from A4 points, it might even be possible to which 360 degree rotate back into A4 points.
Embodiment 15：
As described in the parallel parking figures of Figure 11 and Figure 13, due to the limitation without axletree to wheel rotational angle, work as suspention
Frame 3 is turn 90 degrees counterclockwise, goes to 90 degree vertical with car body of direction, and wheel hub motor wheel 1 is retreated, can directly parallel parking, up time
Pin is turn 90 degrees, and wheel hub motor wheel 1 is retreated, and directly parallel can sail out of parking stall.
Embodiment 16：
As described in Figure 12, turn 30 degree -60 in four wheels to spend, in the case of coordination with one another, using the mass cg of vehicle as
The center of circle rotate, therefore can directly 180 degree turn around, the radius of gyration is zero.Also 360 degree of any direction can be turned to
During steering, under the limitation of interior outside tire steering angle identical, inside tire is turned to by bigger pressure, because
The abrasion of this inside tire is greater than outside tire.The design steering angle and steering pattern are by Driving control, but interior outboard wheel
The collocation of sub- steering angle then automatically controls by control box and assumes that every 0.05 degree of rotational angle is one interval, can obtain in difference
Under speed (assuming that every 0.5 kilometer of speed per hour is one interval), the interior outside tire cooperation steering angle of all rotational angles it is optimal
Coordinate, (assuming that 40 kilometers of speed per hour, inside tire turns 17 degree, outside tire turns 16.4 degree).Tire can be greatly reduced in such a design
Abrasion, reduces air pollution.Existing Automobile Design, is that this function is realized by plant equipment, therefore can only be within 6 degree
Small angle tower reaches the different inside and outside cooperation of interior outside tire steering angle, due to being Mechanical course, therefore can not accomplish as originally set
The above-mentioned fine degree of meter, and more than 6 degree or during bigger corner, can not just realize interior outside tire steering angle
Different inside and outside cooperations；And the different design of the existing interior outside tire steering angle for having an axletree, using a period of time with
Afterwards, it is just that low-angle steering can not also reach the different inside and outside cooperation of interior outside tire steering angle because of mechanical wear.
Embodiment 17：
As described in Figure 9, four-wheel can turn any angle simultaneously, therefore use the land mobile instrument of the design can be from inactive state
Sideling moved to any direction.During such as four wheels with turning 45 degree, so that it may sideling moved to 45 degree of directions, this land mobile instrument
Can from from static to any direction diagonal without change car body angle, such as Fig. 9 can be 45 degree to upper left side diagonal, and headstock is still
Towards surface.
As described in Figure 13, from design, four wheels can three-sixth turn, can be developed in practice future need
Turn the application of the wide-angle such as 300 degree.
During steering, the difference coordinated according to front and back wheel, and have 3 kinds of basic models and 2 kinds of integrated modes, a variety of moulds
Formula is switched by control box, can be preset, also can the manual switching in driving.
Conventional steering pattern：Front-drive, the motionless of trailing wheel
Low speed steering pattern：As shown in Figure 10, front-wheel is turned left, and trailing wheel is turned right, and turning radius can become much smaller, low
When speed is turned to front and back wheel can counterturn, be greatly reduced radius of turn, increase vehicle performance flexibility.
High speed steering pattern：As shown in figure 9, front and back wheel is with turning left, center of gravity is when high speed is drifted about, because four-wheel is grabbed simultaneously
Ground, security can increase many, while steering is more efficient, 4 wheels can be turned to simultaneously during high speed steering, and increase grabs ground
Power, it is to avoid whipping.
Conventional steering pattern+high speed steering pattern：Turning to speed per hour, (this speed per hour can be under steam by controlling less than setting speed per hour
Box manual switching processed, can also preset, at present be assumed to 50 kilometers of speed per hour), with conventional steering pattern turn to, turn to speed per hour
Turned to during more than a certain setting speed per hour, with high speed steering pattern.
Low speed steering pattern+high speed steering pattern：Turning to speed per hour, (this speed per hour can be under steam by controlling less than setting speed per hour
Box manual switching processed, can also preset, at present be assumed to 50 kilometers of speed per hour), with low speed steering pattern turn to, turn to speed per hour
Is turned to during more than a certain setting speed per hour, with high speed steering pattern
Although the utility model is illustrated description with reference to reference to illustrative embodiments it should be appreciated that this reality
With the new embodiment for being not limited in disclosed embodiment and specification be described in detail and show, and,
Principle of the present utility model can modify, to introduce unaccounted of this specification with the scope of to the utility model
What changes, replaced or equivalent elements, and without departing from scope of the present utility model, those skilled in the art can be to the example
Property embodiment makes various changes, and all this changes each fall within protection domain of the present utility model.
Claims (10)
1. a kind of system that wheel can be made to turn to any angle and the different steering angles of coordination with one another, can be applicable to any wheeled
On delivery vehicle, including possess wheel hub motor wheel, shock mitigation system, brakes, hanger, the steering electricity in separate power source
Machine, fixed support, the space outputed on chassis turn to any angle, chassis and control box for wheel, because steering motor is
It is fixed on fixed support, and the space left and arbitrarily turned to for wheel that punched on chassis, driven during wheel steering with electric power
Dynamic steering motor, steering motor rotates hanger, therefore hanger can turn to any angle, and wheel hub motor wheel is integrally fixed at
On hanger, therefore possess the wheel hub motor wheel in separate power source and just can turn to, each wheel can independent steering times
Meaning angle, can also coordinate other any wheels to turn special angle.
2. the system that wheel can be made to turn to any angle and the different steering angles of coordination with one another as described in claim 1,
It is characterized in that：Wheel power can be provided by being provided with wheel hub motor on described wheel hub motor wheel, be available for wheel forward-reverse,
There are brake disc and brake caliper in wheel, wheel can be braked, there is damping braking motor, the second shock mitigation system, rotation mode
Have 6 kinds, (i) the first：Inner wheel hub motor centrifugal rotation is taken turns, axis does not turn, and axis is fixed on hanger both sides, in wheel
The movable parts such as bearing ball are with outside upper, axis, wheel can be made around central axis；(ii) second：Take turns inner wheel hub motor with
When middle shaft rotation drives wheel rotation, now bearing ball is arranged on hanger both sides, does not reside on wheel, axis can be made suitable
Profit is rotated；(iii) third and fourth kind：Wheel inner wheel hub motor does not reside at home position, the other positions in wheel, through machine
Tool device, makes wheel centrifugal rotation or middle shaft rotation, during centrifugal rotation, and the activities such as bearing ball are with wheel, outside axis
Part, can make wheel around central axis, during middle shaft rotation, and now bearing ball is arranged on hanger both sides, does not reside at wheel
On, axis smooth rotation can be made；(iv) the 5th, six kind：Wheel hub motor is not resided in wheel, on hanger side, thoroughly
Mechanical device is crossed, makes wheel centrifugal rotation or middle shaft rotation, during centrifugal rotation, bearing ball etc. is with wheel, outside axis
Movable part, can make wheel around central axis, and during middle shaft rotation, the activities such as bearing ball are provided with outside hanger offside, axis
Part, can make axis smooth rotation.
3. the system that wheel can be made to turn to any angle and the different steering angles of coordination with one another as described in claim 2,
It is characterized in that：Described wheel hub motor can be fixed on any position taken turns on frame, could be secured on hanger, for rotating wheel
Frame and tire are used, and each wheel hub motor can individually control the direction of rotation and forward-reverse, and can be one or more with other
Wheel hub motor cooperate, wheel hub motor can resistive braking, and when delivery vehicle inertia move as generator, generating be stored in
In battery.
4. the system that wheel can be made to turn to any angle and the different steering angles of coordination with one another as described in claim 1,
It is characterized in that：Described steering motor is fixed on fixed support, and hanger can be turned to any angle, and steering motor turns
Kinetic energy control hanger turns to any angle, can make the rotational angle of front, back, inside, outside, each tire and/or each group tire all
It is inconsistent, also can be all consistent, can make at various speeds, each to cross bending angle medial and lateral tire steering angle different most
It is good to coordinate.
5. the system that wheel can be made to turn to any angle and the different steering angles of coordination with one another as described in claim 1,
It is characterized in that：Described hanger upper end is fixed on fixed support, can turn to any angle, hanger lower end fast pulley
Sub- axis, no matter wheel hub motor is arranged on any position in wheel, and when wheel middle shaft rotation, now bearing ball is arranged on suspention
Frame both sides；When wheel centrifugal rotation, hanger both sides bearing-free ball, now bearing ball axis in wheel is peripheral；Work as wheel
When hub motor is arranged on hanger side, bearing ball is arranged on hanger offside axis periphery, makes axis smooth rotation, hangs
Suspension bracket middle-end is provided with the first damper, and steering wheel is had circuit to be connected to hanger, turned to during wheel steering with driven by power
Motor, steering motor rotates hanger, because wheel axis is fixed on hanger lower end, so while hanger rotation, wheel
Son also rotates identical direction and angle with hanger, therefore can complete the purpose of steering.
6. the system that wheel can be made to turn to any angle and the different steering angles of coordination with one another as described in claim 1,
It is characterized in that：Described shock mitigation system is included in the first damper on hanger and the second damping around wheel hub motor wheel
System, both damping effects by control box control and can be distributed, and the second shock mitigation system includes active shock in wheel, main in wheel
Dynamic air spring, damping braking motor, damping braking motor may be mounted in wheel, can also be arranged on any portion of hanger
On position, the first damper and the second shock mitigation system can be set with both of which, can also select a setting.
7. the system that wheel can be made to turn to any angle and the different steering angles of coordination with one another as described in claim 1,
It is characterized in that：Resistive braking of the described brakes comprising wheel hub motor and brake disc, the mechanical braking of brake caliper etc.
Braking equipment.
8. the system that wheel can be made to turn to any angle and the different steering angles of coordination with one another as described in claim 1,
It is characterized in that：Described fixed support is fixedly arranged above hanger and steering motor, and lower section is fixed on chassis, will can deliver
The stress of instrument is transferred to ground through the system.
9. the system that wheel can be made to turn to any angle and the different steering angles of coordination with one another as described in claim 1,
It is characterized in that：The space outputed on described chassis can be any shape, as long as size turns to any side for wheel enough
To.
10. the system that wheel can be made to turn to any angle and the different steering angles of coordination with one another as described in claim 1,
It is characterized in that：Described control box is made up of, from direction control mechanism single-chip microcomputer, motor driving, control panel
Sensor receive signal, output signals to steering motor, control box is by controlling circuit to control each wheel, therefore
The steering direction of the one group of wheel in one group of front and rear, can be identical, also different with angle, and control box can preset steering
Pattern or different steering patterns are manually adjusted under steam, control box can control the angle of wheel, allow interior outboard wheel
The angle that son is turned to is different, and has the steering angle of different interior foreign steamer collocation at different speeds, and control box can also be controlled
The damping effect of first and second shock mitigation system is made and distributed, controls and distributes resistive braking and the braking effect of mechanical braking,
And when when control wheel hub motor resistive braking and switch to generator, and store energy in battery.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720056068.0U CN206528518U (en) | 2017-01-11 | 2017-01-11 | The system that wheel can be made to turn to any angle and the different steering angles of coordination with one another |
| US16/477,480 US20200023896A1 (en) | 2017-01-11 | 2018-01-11 | System capable of enabling wheels to turn to any angle and cooperate with each other at different turning angles |
| PCT/IB2018/050172 WO2018130961A1 (en) | 2017-01-11 | 2018-01-11 | System capable of enabling wheels to turn to any angle and cooperate with each other at different turning angles |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720056068.0U CN206528518U (en) | 2017-01-11 | 2017-01-11 | The system that wheel can be made to turn to any angle and the different steering angles of coordination with one another |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206528518U true CN206528518U (en) | 2017-09-29 |
Family
ID=59920950
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720056068.0U Expired - Fee Related CN206528518U (en) | 2017-01-11 | 2017-01-11 | The system that wheel can be made to turn to any angle and the different steering angles of coordination with one another |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206528518U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107585208A (en) * | 2017-10-09 | 2018-01-16 | 大连艾欧信息技术有限公司 | A kind of adjustable steering mechanism of initial phase |
| WO2018130961A1 (en) * | 2017-01-11 | 2018-07-19 | 陈生泰 | System capable of enabling wheels to turn to any angle and cooperate with each other at different turning angles |
| CN112590774A (en) * | 2020-12-22 | 2021-04-02 | 同济大学 | Intelligent electric automobile drifting and warehousing control method based on deep reinforcement learning |
-
2017
- 2017-01-11 CN CN201720056068.0U patent/CN206528518U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018130961A1 (en) * | 2017-01-11 | 2018-07-19 | 陈生泰 | System capable of enabling wheels to turn to any angle and cooperate with each other at different turning angles |
| CN107585208A (en) * | 2017-10-09 | 2018-01-16 | 大连艾欧信息技术有限公司 | A kind of adjustable steering mechanism of initial phase |
| CN107585208B (en) * | 2017-10-09 | 2024-04-12 | 大连艾欧信息技术有限公司 | Steering mechanism with adjustable initial phase |
| CN112590774A (en) * | 2020-12-22 | 2021-04-02 | 同济大学 | Intelligent electric automobile drifting and warehousing control method based on deep reinforcement learning |
| CN112590774B (en) * | 2020-12-22 | 2022-02-18 | 同济大学 | Intelligent electric automobile drifting and warehousing control method based on deep reinforcement learning |
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