CN210941217U

CN210941217U - Unmanned vehicle in-wheel motor modularization driving system that traveles

Info

Publication number: CN210941217U
Application number: CN201921799394.6U
Authority: CN
Inventors: 施睿; 赵松; 赵艳辉; 张勇; 郭晓燕; 刘广征; 徐中一; 丁鹏; 杨志勇; 汤治伟
Original assignee: China North Vehicle Research Institute
Current assignee: China North Vehicle Research Institute
Priority date: 2019-10-24
Filing date: 2019-10-24
Publication date: 2020-07-07
Anticipated expiration: 2029-10-24

Abstract

The utility model belongs to the field of vehicle engineering, and discloses an unmanned vehicle wheel hub motor modularization driving system which is characterized in that the first bridge, the second bridge and the third bridge are single longitudinal arm bridges, the fourth bridge is a double-transverse-arm bridge, and the single longitudinal arm bridge comprises a tire rim assembly, a longitudinal arm mounting rack, an oil-gas spring and a wheel hub motor; the double-wishbone bridge includes xarm, lower xarm, knuckle and in-wheel motor, the utility model discloses utilize distributed drive in-wheel motor matching hydro-pneumatic spring to independently hang, make the vehicle realize super high geometric barrier and pass through ability, high-speed cross-country road surface mobility ability. The system adopts a full-point driving mode, has high power density, small space usage and stable and reliable work; the system components are designed in a modularized mode, and the system components are good in interchangeability, low in manufacturing cost and easy to maintain.

Description

Unmanned vehicle in-wheel motor modularization driving system that traveles

Technical Field

The utility model relates to a light-duty superelevation motor vehicle in-wheel motor driving control system that traveles belongs to the vehicle engineering field.

Background

Light-duty ultra-high motor vehicles put severe index requirements on their passing ability: average cross-country speed 30 km/h; the maximum climbing gradient is not lower than 32 degrees; the maximum side-tipping running gradient is not less than 20 degrees; the crossing trench width is not less than 1.2 meters; the height of the vertical obstacles is not less than 0.6 m; the traffic capacity of soft ground is achieved; the ultra-high passing capacity requirement puts a brand-new requirement on a vehicle running driving system: super large suspension stroke; the vehicle posture adjusting function is achieved; the lateral rigidity is high; the flexible steering capacity is achieved; outputting ultra-large driving torque; super large ground connection area etc. among the prior art four bridge cross country vehicles mostly are heavy cross country, use four bridges to light-duty high motor vehicle, can't satisfy light-duty high motor vehicle's performance requirement, disclose a hydro-pneumatic spring independent suspension and adopt the heavy-duty car of this suspension like 200620158767.8, this independent suspension structure is heavy, can't be applied to light-duty high motor vehicle, can't satisfy light-duty motor vehicle's requirement.

SUMMERY OF THE UTILITY MODEL

In order to solve the technical problem, the utility model provides a following unmanned vehicles wheel hub motor modularization actuating system that traveles:

the modularized driving system for the hub motor of the unmanned vehicle is characterized in that the first bridge, the second bridge and the third bridge are single longitudinal arm bridges, the fourth bridge is a double-transverse-arm bridge, and the single longitudinal arm bridge comprises a tire rim assembly, a longitudinal arm mounting frame, a hydro-pneumatic spring and a hub motor; the double-cross-arm bridge comprises an upper cross arm, a lower cross arm, a steering knuckle and a hub motor; the tire rim assembly is in threaded connection with the output end of the hub motor; the tire end of the longitudinal arm is fixedly connected with a shell of the hub motor in a threaded manner, and the end of the vehicle body is fastened on the vehicle body through a mounting bracket of the longitudinal arm, so that the longitudinal arm can swing around the transverse axis of the vehicle body by a large angle; the upper cross arm and the lower cross arm are connected to the vehicle body through pin shafts, so that the cross arm can swing around the vehicle body in a transverse large-angle mode, and the ball head end of the cross arm is connected with a steering knuckle through a large-angle ball hinge to form a steering knuckle deflection axis; the steering knuckle is provided with a steering system connecting point, and can deflect around the axis of the steering knuckle by being driven by the steering system; the steering knuckle is fastened with the hub motor through a bolt; the upper fulcrum of the hydro-pneumatic spring is hinged to the vehicle body in a ball joint bearing mode, and the lower dead center is respectively connected with the longitudinal arm and the lower cross arm through a pin shaft to transmit elastic force and damping force.

Preferably, the single trailing arm bridge has a first bridge with a forward swing and a second bridge with a rearward swing.

Preferably, the single trailing arm bridge has a forward swing on a first bridge and a rearward swing on a second and third bridge

Preferably, the steering gear is a steer-by-wire electric steering gear.

Compared with the prior art, the utility model relates to a high mobility of unmanned vehicle in-wheel motor drives operating system that traveles has following advantage:

(1) the running driving system adopts a distributed driving technical scheme that an 8 × 8 independent hydro-pneumatic spring suspension is matched with a hub motor, so that optimal attachment and optimal driving torque distribution of wheels under the conditions of a cross-country road and a geometric obstacle of a vehicle can be realized, and the ultrahigh passing performance of the vehicle is further realized.

(2) The front three axles of the driving system adopt a single trailing arm suspension guide mechanism, so that the lateral rigidity of a vehicle suspension system is greatly improved, the vehicle body rollover and sideslip in the process of passing through geometric obstacles are effectively avoided, and the unconventional geometric obstacle crossing capability of the vehicle is realized.

(3) The fourth axle of the driving system adopts a double-cross-arm suspension guide structure, the matched steering system has the vehicle rear wheel steering capacity, the matched vehicle differential control function can realize the flexible transverse deflection motion of the vehicle, and the cross-country maneuvering performance of the vehicle is greatly improved.

(4) The arrangement scheme of the longitudinal arms of the driving system is that the first axle is arranged in front of the vehicle, the second axle is arranged in back of the vehicle to realize a 90-degree approach angle of the vehicle, large-stroke low-offset-frequency suspension parameter design is combined, large-area attachment of a first axle wheel of the vehicle can be realized, and ground impact functions of the second, third and fourth axle wheels are effectively reduced.

(5) The driving system is matched with the hydro-pneumatic spring and is coordinated with the hydraulic driving system, so that the height, pitching, side-tipping and inclining adjustment of the vehicle posture can be realized.

Drawings

FIG. 1: schematic diagram of a driving control system.

The reference numbers are as follows: the wheel hub motor comprises a wheel rim assembly 1, a longitudinal arm 2, a longitudinal arm mounting frame 3, a hydro-pneumatic spring 4, an upper cross arm 5, a lower cross arm 6, a steering knuckle 7 and a wheel hub motor 8.

Detailed Description

The following detailed description of the embodiments of the present invention will be made with reference to the accompanying drawings.

As shown in figure 1, the utility model provides an unmanned vehicle wheel hub motor high maneuverability driving control system, the driving system adopts 8 × 8 independent hydro-pneumatic spring suspension matching wheel hub motor distributed driving technical scheme, the first, second, third bridge is single longitudinal arm bridge, the fourth bridge is double cross arm bridge, the front three bridge of the driving system adopts single longitudinal arm suspension guiding mechanism, the lateral rigidity of the vehicle suspension system is greatly improved, the vehicle body rollover and sideslip in the process of passing through the geometric barrier are effectively avoided, the unconventional geometric barrier crossing capability of the vehicle is realized, the fourth bridge of the driving system adopts double cross arm suspension guiding structure, the matching steering system has the capability of vehicle rear wheel steering, the differential control function of the vehicle is matched, the flexible transverse deflection motion of the vehicle is realized, the cross country maneuvering performance of the vehicle is greatly improved, the single longitudinal arm bridge comprises a tire wheel rim assembly 1, a longitudinal arm 2, a longitudinal arm mounting rack 3, a hydro-pneumatic spring 4 and a wheel hub motor 8, the double cross arm bridge comprises an upper cross arm 5, a lower cross arm 6, a steering arm 7 and a wheel hub motor 7, the transverse deflection arm is connected with the wheel hub motor through a transverse pin shaft 6, the transverse pin shaft 6 and the transverse deflection motor, the transverse pin joint 7, the transverse deflection motor is connected with the wheel hub motor, the steering system, the transverse steering arm 6, the transverse pin shaft 6 is connected with the steering system, the transverse pin shaft 6 is connected with the steering system, the transverse pin shaft 6, the transverse pin shaft 7, the transverse pin shaft 6 is connected with the transverse pin shaft 6, the transverse pin shaft 7, the transverse pin shaft 6 is connected with the transverse pin shaft 7, the transverse pin shaft 6, the transverse pin shaft.

The driving system matches with a large-torque hub motor, so that climbing and passing of a vehicle on a longitudinal slope with an ultra-large angle and an ultra-high vertical obstacle can be realized.

Preferably, the driving and driving system longitudinal arm arrangement scheme is that the first axle front swing and the second axle rear swing or the second axle rear swing and the third axle rear swing can realize a 90-degree approach angle of the vehicle, and the large-area attachment of a first axle wheel of the vehicle and the effective ground impact reduction function of a second axle wheel, a third axle wheel and a fourth axle wheel can be realized by combining the large-stroke low-offset-frequency suspension parameter design.

The utility model discloses utilize distributed drive in-wheel motor matching hydro-pneumatic spring to independently hang, make the vehicle realize super high geometric barrier and pass through ability, high-speed cross-country road surface mobility ability. The system adopts a full-point driving mode, has high power density, small space usage and stable and reliable work; the system components are designed in a modularized mode, and the system components are good in interchangeability, low in manufacturing cost and easy to maintain.

Although the present invention has been described with reference to the preferred embodiments, the present invention is not limited thereto. Various changes and modifications may be effected therein by one of ordinary skill in the pertinent art without departing from the scope or spirit of the present invention, and the scope of the present invention is defined by the appended claims.

Claims

1. The modularized driving system for the unmanned vehicle in-wheel motor is characterized by comprising a first bridge, a second bridge, a third bridge and a fourth bridge, wherein the first bridge, the second bridge and the third bridge are single longitudinal arm bridges, the fourth bridge is a double-transverse-arm bridge, and the single longitudinal arm bridge comprises a tire rim assembly, a longitudinal arm mounting frame, an oil-gas spring and an in-wheel motor; the double-cross-arm bridge comprises an upper cross arm, a lower cross arm, a steering knuckle and a hub motor; the tire rim assembly is in threaded connection with the output end of the hub motor; the tire end of the longitudinal arm is fixedly connected with a shell of the hub motor in a threaded manner, and the end of the vehicle body is fastened on the vehicle body through a mounting bracket of the longitudinal arm, so that the longitudinal arm can swing around the transverse axis of the vehicle body by a large angle; the upper cross arm and the lower cross arm are connected to the vehicle body through pin shafts, so that the cross arm can swing around the vehicle body in a transverse large-angle mode, and the ball head end of the cross arm is connected with a steering knuckle through a large-angle ball hinge to form a steering knuckle deflection axis; the steering knuckle is provided with a steering system connecting point, and can deflect around the axis of the steering knuckle by being driven by the steering system; the steering knuckle is fastened with the hub motor through a bolt; the upper fulcrum of the hydro-pneumatic spring is hinged to the vehicle body in a ball joint bearing mode, and the lower dead center is respectively connected with the longitudinal arm and the lower cross arm through a pin shaft to transmit elastic force and damping force.

2. The unmanned vehicle in-wheel motor modular travel drive system of claim 1, wherein the single trailing arm axle, the first axle is a forward swing and the second axle is a rearward swing.

3. The unmanned vehicle in-wheel motor modular travel drive system of claim 2, wherein the single trailing arm axle, the first axle is a forward swing and the second and third axles are a rearward swing.