CN207311590U - A kind of independent steering structure that can improve four-wheel driving electric vehicle stability - Google Patents
A kind of independent steering structure that can improve four-wheel driving electric vehicle stability Download PDFInfo
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- CN207311590U CN207311590U CN201721415723.3U CN201721415723U CN207311590U CN 207311590 U CN207311590 U CN 207311590U CN 201721415723 U CN201721415723 U CN 201721415723U CN 207311590 U CN207311590 U CN 207311590U
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- knuckle
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Abstract
The utility model discloses a kind of independent steering structure that can improve four-wheel driving electric vehicle stability, including car body, chassis, wheel and steering mechanism, wheel hub motor is installed in wheel；The steering mechanism includes steering motor, retarder, steering linkage and knuckle；The steering motor and retarder are installed on chassis underside, the knuckle is installed on wheel hub motor, its front side is connected with knuckle arm, the output shaft of the retarder is connected by universal joint I with the upper end of transmission shaft I, and the lower end of the transmission shaft I is connected by universal joint II with the upper end for the transmission shaft II being vertically arranged；The lower end of the transmission shaft II leads to a rack and pinion steering gear laterally set and is connected with one end of steering linkage, which is laterally set, its other end is connected by universal joint III with the other end of knuckle arm.The utility model can reduce unstability risk, effectively improve electric automobile steering stability, and ensure the safety of driver.
Description
Technical field
Electric automobile actuation techniques field is the utility model is related to, more particularly to one kind can improve four-wheel driving electric vehicle
The independent steering structure of stability.
Background technology
With the development of electric automobile, a kind of electric wheel truck of wheel hub motor four-wheel drive becomes emerging electric automobile
Developing direction, In-wheel motor driving electric automobile are different from center driven automobile, are eliminated by the way of four motorized wheels
Traditional mechanical driving device, greatly improves power transmission efficiency, increases Bus inner layout space, while motor has response
The characteristics of rapid, therefore the response such as the driving of automobile, braking is rapider.Electric wheel truck is independently driven using four wheel hub motors
Dynamic, each to take turns torque Independent adjustable, the realization for torque distribution provides possibility, and expands the application range of wire control technology.But
It is that electric automobile is subject to external interference during Turning travel, unstable yaw moment can be produced, triggers and manipulate unstability feelings
Condition, such as understeer, negative understeer, even breaks away and turns on one's side, in order to strengthen the control stability of automobile, it is necessary to unstable
Yaw moment is controlled, current torque distribution technique, can reach the unstable yaw of improvement by distributing wheel longitudinal force
The purpose of torque, but wheel lateral force cannot be controlled, it is therefore desirable to electric wheel truck needs are a set of to control tyre side
Improvement stability devices to power.
Utility model content
For deficiencies of the prior art, the purpose of this utility model is to provide one kind can improve four-wheel drive
The independent steering structure of electric automobile stability, can reduce unstability risk, effectively improve electric automobile steering stability, and protect
Hinder the safety of driver.
In order to solve the above-mentioned technical problem, the technical solution adopted in the utility model is such：One kind can improve four-wheel
The independent steering structure of electric automobile stability, including car body, chassis, wheel and steering mechanism are driven, is installed in wheel
There is wheel hub motor；It is characterized in that：The steering mechanism includes steering motor, retarder, steering linkage and knuckle；Described turn
Chassis underside is installed on to motor and retarder, the motor shaft of steering motor is connected with the input shaft of retarder, wherein, turn to electricity
The motor shaft of machine and the input shaft of retarder and output shaft are laterally set；The knuckle is installed on wheel hub motor, before it
Side is connected with a horizontally disposed knuckle arm, and one end of the knuckle arm is connected with knuckle；The output shaft of the retarder
It is connected by universal joint I with the upper end of transmission shaft I, the lower end of the transmission shaft I is tilted to knuckle arm direction, and passes through universal joint
II is connected with the upper end for the transmission shaft II being vertically arranged；The lower end of the transmission shaft II leads to a rack-and-pinion laterally set and turns to
Device is connected with one end of steering linkage, which is laterally set, its other end is another by universal joint III and knuckle arm
One end is connected, and steering linkage can be driven to move along its axis by the rack and pinion steering gear.
Further, the wheel rack steering gear includes tubular shell, rack and pinion, and the housing passes through connecting rod and bottom
Disk is fixedly connected, and rack is arranged in housing along the axial direction of housing, its both ends is connected with a guide rod respectively, and two guide rods lead to respectively
Cross linear bearing and be slidably matched with housing and be connected；The gear is horizontal to be arranged on the side of rack, and is engaged with rack, passes through gear
Can be with axial movement of the carry-over bar along housing；The lower end of the transmission shaft II is fixedly connected after passing through housing with gear, described
Steering linkage is connected by shaft coupling with guide rod.
Further, the one end of the knuckle arm away from knuckle is tilted to away from wheel direction.
Compared with prior art, the utility model has the following advantages that：
1 is simple in structure, the steering of each wheel can be independently controlled by the independent steering assembly, passes through independence
Course changing control wheel lateral force distributes, and achievees the purpose that to improve Riding Stability of Automobile；And high sensitivity, response is rapid, carries
The high sensitivity of steering.
2nd, in whole steering mechanism, it is connected between all parts by universal joint, so as to make whole transfer
It is flexible more preferable；Moment of torsion transmission is carried out by rack and pinion steering gear, makes course changing control accuracy higher, can effectively reduce unstability
Risk, effectively improves the stability of electric automobile steering, and ensures the safety of driver, and can be reduced and turned using linear bearing
To the machining accuracy of pull rod, cost is reduced.
3rd, coordinate retarder to realize the purpose of reduction of speed torque using steering motor, ease of steering can be improved；It can replace passing
The steering of system realizes automatically controlled steering, cancels the steering drive axle of conventional steering mechanism, and transmission is turned to when avoiding colliding
Aixs cylinder enters the generation that driver's cabin is hurted sb.'s feelings.
4th, by steering motor and retarder installation with automobile chassis, forming spring carried mass, reducing tire vibration to car
The impact of body, and be conducive to the NVH performances of automobile.
Brief description of the drawings
Fig. 1 is the top view of steering mechanism's installment state in the utility model.
Fig. 2 is rack and pinion steering gear structure diagram.
In figure：1-wheel, 2-wheel hub motor, 3-steering motor, 4-retarder, 5-steering linkage, 6-knuckle,
7-knuckle arm, 8-universal joint I, 9-transmission shaft I, 10-universal joint II, 11-rack and pinion steering gear, 111-housing,
112-rack, 113-gear, 114-guide rod, 115-linear bearing, 12-universal joint III.
Embodiment
Below in conjunction with accompanying drawings and embodiments, the utility model is described in further detail.
Embodiment：Referring to Fig. 1, Fig. 2, a kind of independent steering structure that can improve four-wheel driving electric vehicle stability, bag
Include car body, chassis, wheel 1 and steering mechanism；Wheel hub motor 2 is installed in wheel 1；The steering mechanism includes turning to electricity
Machine 3, retarder 4, steering linkage 5 and knuckle 6.The steering motor 3 and retarder 4 is installed and chassis underside, steering motor 3
Motor shaft be connected with the input shaft of retarder 4, wherein, the motor shaft of steering motor 3 and the input shaft and output shaft of retarder 4
Laterally set；Steering motor 3 and retarder 4 are installed on automobile chassis, spring carried mass is formed, reduces tire vibration pair
The impact of vehicle body, and be conducive to the NVH performances of automobile.
The knuckle 6 is installed on wheel hub motor 2, its front side is connected with a horizontally disposed knuckle arm 7, the steering
One end of joint arm 7 is connected with knuckle 6；During actual fabrication, the described one end of knuckle arm 7 away from knuckle 6 is to away from wheel 1
Direction tilts, and so wheel 1 can be made more preferably to carry out course changing control.The output shaft of the retarder 4 passes through universal joint I 8 and transmission
The upper end of axis I 9 is connected, and the lower end of the transmission shaft I 9 is to knuckle arm 7（One end away from knuckle 6）Direction tilts, and passes through
Universal joint II 10 is connected with the upper end for the transmission shaft II being vertically arranged.The lower end of the transmission shaft II leads to a gear laterally set
Rack steering gear 11 is connected with one end of steering linkage 5, which is laterally set, its other end passes through universal joint III 12
It is connected with the other end of knuckle arm 7, by the rack and pinion steering gear 11 steering linkage 5 can be driven to move along its axis.
When it is implemented, wheel 112 steering gear of rack includes tubular shell 111, rack 112 and gear 113.The housing 111 is logical
Connecting rod is crossed to be fixedly connected with chassis, rack 112 along housing 111 axial direction be arranged on housing 111 in, its both ends respectively with a guide rod
114 are connected, and two guide rods 114 are slidably matched by linear bearing 115 with housing 111 respectively to be connected；113 level of gear is set
Engage in the side of rack 112, and with rack 112, can be moved by gear 113 with carry-over bar 112 along the axial direction of housing 111
It is dynamic.The lower end of the transmission shaft II pass through housing 111 after be fixedly connected with gear 113, the steering linkage 5 by shaft coupling with
Guide rod 114 is connected.
In whole steering mechanism, it is connected between all parts by universal joint, so as to make the soft of whole transfer
Property is more preferable；Moment of torsion transmission is carried out by rack and pinion steering gear 11, makes course changing control accuracy higher, can effectively reduce unstability
Risk, effectively improves the stability of electric automobile steering, and ensures the safety of driver, and can be dropped using linear bearing 115
The machining accuracy of low steering linkage 5, reduces cost.
The steering of each wheel 1 can be independently controlled by the independent steering assembly, controlled by independent steering
1 lateral force of wheel is distributed, and achievees the purpose that to improve Riding Stability of Automobile；And high sensitivity, response is rapid, improves steering
The sensitivity of system.
During use, when electric automobile turns to, onboard sensor obtains wheel speed, motor torque, Vehicular yaw in real time
The information such as angle, side acceleration, longitudinal acceleration, CAN cards are delivered to through CAN bus, and the information of acquisition is delivered to vehicle shape
State estimator, active yaw moment controller, whole vehicle stability controller., can be to car since vehicular four wheels are using independent driving
1 longitudinal force is taken turns to be controlled, but the lateral force of wheel 1 is difficult to directly control, therefore, the utility model design independent steering machine
Structure, is achieveed the purpose that to lateral force control by additional steering angle.The driving longitudinal force of the distribution of four wheels 1 is delivered to wheel hub
2 controller of motor, motor control signal is converted to by dtc signal, is delivered to four electric wheel drive vehicle travelings.Wheel 1
For side force of tire by controlling 1 corner of wheel to realize, the side force of tire of wheel 1 is converted to 1 angular signal of wheel, by turning to
3 controller of motor control steering motor 3 works, and deflecting roller independent steering assembly performs the corner that driver is inputted by steering wheel
Signal, non-steering wheels realize independent steering, achieve the purpose that to control intact stability.
Finally it should be noted that above example is merely intended for describing the technical solutions of the present application, but not for limiting the present application technology
Scheme, it will be understood by those of ordinary skill in the art that, those are modified the technical solution of the utility model or are equal
Replace, without departing from the objective and scope of the technical program, should all cover among the right of the utility model.
Claims (3)
1. a kind of independent steering structure that can improve four-wheel driving electric vehicle stability, including car body, chassis, wheel and turn
To mechanism, wheel hub motor is installed in wheel；It is characterized in that：The steering mechanism includes steering motor, retarder, steering
Pull rod and knuckle；The steering motor and retarder are installed on chassis underside, the motor shaft of steering motor and retarder it is defeated
Enter axis to be connected, wherein, the motor shaft of steering motor and the input shaft of retarder and output shaft are laterally set；The knuckle peace
Loaded on wheel hub motor, its front side is connected with a horizontally disposed knuckle arm, and one end of the knuckle arm is connected with knuckle；
The output shaft of the retarder is connected by universal joint I with the upper end of transmission shaft I, and the lower end of the transmission shaft I is to knuckle arm side
It is connected to inclination, and by universal joint II with the upper end for the transmission shaft II being vertically arranged；It is horizontal that the lower end of the transmission shaft II leads to one
One end of rack and pinion steering gear and steering linkage to setting is connected, which is laterally set, its other end passes through ten thousand
It is connected to section III with the other end of knuckle arm, by the rack and pinion steering gear steering linkage can be driven axially to be moved along it
It is dynamic.
2. a kind of independent steering structure that can improve four-wheel driving electric vehicle stability according to claim 1, it is special
Sign is：The wheel rack steering gear includes tubular shell, rack and pinion, and the housing is fixed by connecting rod and chassis to be connected
Connect, rack is arranged in housing along the axial direction of housing, its both ends is connected with a guide rod respectively, and two guide rods pass through linear axis respectively
Hold to be slidably matched with housing and be connected；The gear is horizontal to be arranged on the side of rack, and is engaged with rack, can be driven by gear
Axial movement of the rack along housing；The lower end of the transmission shaft II is fixedly connected after passing through housing with gear, the steering linkage
It is connected by shaft coupling with guide rod.
3. a kind of independent steering structure that can improve four-wheel driving electric vehicle stability according to claim 1, it is special
Sign is：The one end of the knuckle arm away from knuckle is tilted to away from wheel direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721415723.3U CN207311590U (en) | 2017-10-30 | 2017-10-30 | A kind of independent steering structure that can improve four-wheel driving electric vehicle stability |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721415723.3U CN207311590U (en) | 2017-10-30 | 2017-10-30 | A kind of independent steering structure that can improve four-wheel driving electric vehicle stability |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207311590U true CN207311590U (en) | 2018-05-04 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721415723.3U Expired - Fee Related CN207311590U (en) | 2017-10-30 | 2017-10-30 | A kind of independent steering structure that can improve four-wheel driving electric vehicle stability |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207311590U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109017994A (en) * | 2018-06-29 | 2018-12-18 | 北京中云智车科技有限公司 | A kind of unmanned vehicle generalization drive-by-wire chassis |
| CN112793660A (en) * | 2021-03-20 | 2021-05-14 | 刘硕 | Wheel steering device and self-steering wheel |
| CN113320591A (en) * | 2021-06-03 | 2021-08-31 | 江苏大学 | Four-wheel steering control system and control method for electric automobile |
| CN113665667A (en) * | 2021-08-27 | 2021-11-19 | 一汽解放汽车有限公司 | Steering device and vehicle |
| CN113879110A (en) * | 2021-09-30 | 2022-01-04 | 中汽研（天津）汽车工程研究院有限公司 | Line control chassis system of intelligent network connection test equipment |
-
2017
- 2017-10-30 CN CN201721415723.3U patent/CN207311590U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109017994A (en) * | 2018-06-29 | 2018-12-18 | 北京中云智车科技有限公司 | A kind of unmanned vehicle generalization drive-by-wire chassis |
| CN112793660A (en) * | 2021-03-20 | 2021-05-14 | 刘硕 | Wheel steering device and self-steering wheel |
| CN113320591A (en) * | 2021-06-03 | 2021-08-31 | 江苏大学 | Four-wheel steering control system and control method for electric automobile |
| CN113320591B (en) * | 2021-06-03 | 2022-09-16 | 江苏大学 | Four-wheel steering control system and control method for electric automobile |
| CN113665667A (en) * | 2021-08-27 | 2021-11-19 | 一汽解放汽车有限公司 | Steering device and vehicle |
| CN113879110A (en) * | 2021-09-30 | 2022-01-04 | 中汽研（天津）汽车工程研究院有限公司 | Line control chassis system of intelligent network connection test equipment |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180504 Termination date: 20181030 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |