CN214240971U - Intelligent four-wheel steering wire control chassis - Google Patents
Intelligent four-wheel steering wire control chassis Download PDFInfo
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- CN214240971U CN214240971U CN202022852192.2U CN202022852192U CN214240971U CN 214240971 U CN214240971 U CN 214240971U CN 202022852192 U CN202022852192 U CN 202022852192U CN 214240971 U CN214240971 U CN 214240971U
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Abstract
The utility model discloses an intelligent four-wheel steering wire control chassis, which comprises a frame, a wheel assembling edge assembly and an electric control unit, wherein the frame is formed by welding 20X20 square steel and angle steel; the frame comprises crossbeam, longeron, perpendicular roof beam, storage battery installing support and controller installing support part. The utility model relates to a steering-by-wire chassis technical field. The design is ingenious, the operation is simple, and the functions of pivot steering and transverse movement can be realized. Can realize free movement in a narrow space. The defects of over-complex chassis structure, over-high cost and the like in the prior art are overcome; the large-torque speed reducing motor is adopted, so that the driving torque is large, and the device is suitable for various complex road conditions; the installation of various tops and other accessories is facilitated, and the practicability of the chassis is improved.
Description
Technical Field
The utility model relates to a steering-by-wire chassis technical field specifically is an intelligence four-wheel steering-by-wire chassis.
Background
With the development of automation technology and unmanned vehicle technology, more and more intelligent vehicles are applied to production and living particularly under the condition of devastating new crown disasters.
At present, the structure of a small intelligent four-wheel steering chassis is complex, the cost is high, the small intelligent four-wheel steering chassis cannot be rapidly popularized and occupy the market, and the low-cost intelligent four-wheel steering drive-by-wire chassis is provided for the scheme.
The existing electric control system has defects and problems, has no corner sensor and can not accurately feed back angle information. The control is not accurate, and the automatic change giving can not be controlled by a program.
SUMMERY OF THE UTILITY MODEL
The utility model provides a not enough to prior art, the utility model provides an intelligence four-wheel steering drive-by-wire chassis has solved current small-size intelligent four-wheel steering chassis structure and is more complicated, and the cost is very high, can't popularize rapidly and occupy market, and this scheme provides a low-cost intelligence four-wheel steering drive-by-wire chassis for this, and driving motor adopts in-wheel motor direct drive, does not have reduction gear, and driving torque is limited, and road conditions adaptability is not good.
In order to achieve the above purpose, the utility model discloses a following technical scheme realizes: the electric bicycle comprises a bicycle frame, 4 groups of wheel edge assemblies and an electric control unit, wherein the bicycle frame is formed by welding 20X20 square steel and angle steel;
the frame consists of a cross beam, a longitudinal beam, a vertical beam, a storage battery mounting bracket and a controller mounting bracket;
the 4 groups of wheel edge assemblies respectively comprise a wheel, a speed reduction driving motor, an upper bearing seat, a lower bearing seat, a two-way thrust bearing, a corner sensor, a steering motor, a first transition support, a second transition support, a third transition support and a fourth transition support;
the bidirectional thrust bearing is arranged in the upper bearing seat and the lower bearing seat, the upper ring and the lower ring of the bidirectional thrust bearing are rigidly connected with the upper bearing seat and the lower bearing seat, the middle ring of the bidirectional thrust bearing is rigidly connected with the third transition bracket and the fourth transition bracket, and the middle ring of the bidirectional thrust bearing freely rotates with the upper ring and the lower ring;
the corner sensor is fixed on the first transition support, the middle ring of the corner sensor is rigidly connected with the second transition support, and the second transition support is fixed on the third transition support so as to be rigidly connected with the wheel;
the steering motor is fixed on the first transition support, and an output shaft of the steering motor is rigidly connected with the third transition support;
the battery installing support is provided with a battery, and a battery connector is arranged on the battery.
Preferably, the electric control unit is composed of an MCU module, a CAN module, a power module, a connector module, a motor driving module, a sensor and a wire harness.
Preferably, the MCU module main chip is an automobile-grade single chip microcomputer which is 32-bit MCU SPC5604 of NXP.
Preferably, the CAN module main chip is an automobile-level communication chip which is TJA1050 of NXP.
Preferably, the main chip of the power module is an automobile-grade DCDC chip TPS 5420.
Preferably, the main chip of the motor driving module selects an English flying slush BTN8962 half-bridge driving chip to drive the hub motor and the steering motor, and the corner sensor selects a corner sensor below the steering wheel of the automobile.
Advantageous effects
The utility model provides an intelligence four-wheel steering drive-by-wire chassis. The method has the following beneficial effects: the design is ingenious, the operation is simple, and the functions of pivot steering and transverse movement can be realized. Can realize free movement in a narrow space. The defects of over-complex chassis structure, over-high cost and the like in the prior art are overcome; the large-torque speed reducing motor is adopted, so that the driving torque is large, and the device is suitable for various complex road conditions; the installation of various tops and some other accessories has been made things convenient for to the practicality on chassis has been increased, and the angle sensor can real-time measurement rotation angle and speed, combines the angle and the speed that PID algorithm can very accurate control turn to. 4 wheels independently control acceleration, deceleration, steering and braking, and has flexible movement, in-situ turning and direct transverse and longitudinal running.
Drawings
Fig. 1 is the utility model discloses a structural schematic diagram of intelligence four-wheel steering drive-by-wire chassis.
Fig. 2 is the utility model relates to a frame structure schematic diagram of intelligence four-wheel steering drive-by-wire chassis.
Fig. 3 is a wheel side exploded view of the intelligent four-wheel steering wire-controlled chassis of the present invention.
Fig. 4 is the utility model discloses a wheel limit structure sketch map of intelligence four-wheel steering drive-by-wire chassis.
Fig. 5 is the utility model discloses a MCU module circuit diagram on intelligence four-wheel steering drive-by-wire chassis.
Fig. 6 is the utility model discloses a CAN interface module circuit diagram on intelligence four-wheel steering drive-by-wire chassis.
Fig. 7 is a circuit diagram of a power module of the intelligent four-wheel steering wire-controlled chassis of the present invention.
Fig. 8 is a circuit diagram of a connector module of the intelligent four-wheel steering-by-wire chassis of the present invention.
Fig. 9 is a circuit diagram of a motor driving module of the intelligent four-wheel steering wire-controlled chassis of the present invention.
Fig. 10 is a flowchart of a main program of the intelligent four-wheel steering-by-wire chassis according to the present invention.
Fig. 11 shows an interruption procedure of the intelligent four-wheel steering-by-wire chassis according to the present invention.
Fig. 12 is a flowchart of a planning decision algorithm routine of the intelligent four-wheel steering-by-wire chassis according to the present invention.
In the figure: 1-a vehicle frame; 2-vehicle wheels; 3-a fourth transition support; 4-upper and lower bearing seats; 5-a bidirectional thrust bearing; 6-rotation angle sensor; 7-a steering motor; 8-a first transition support; 9-a second transition support; 10-a third transition support; 11-a reduction drive motor; 12-a battery; 13-battery connector.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Referring to fig. 1-12, the present invention provides a technical solution: an intelligent four-wheel steering-by-wire chassis has multiple motion modes because 4 wheels can control speed and angle independently. At present, 3 practical modes are developed.
And in the first mode, the chassis moves forwards, turns forwards while turning, moves backwards, and turns backwards while turning.
In the second mode, 4 wheels and the vehicle body form an angle of 45 degrees to drive the hub motor, the chassis draws a circle by taking the center of the vehicle body as the center of the circle, and clockwise and anticlockwise rotation can be realized by the forward and reverse installation of the hub motor. The scene is suitable for turning around in a narrow space.
In the third mode, 4 wheels and the vehicle body form an angle of 90 degrees, and the motor can transversely move left and right by forward and reverse rotation.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation. The use of the phrase "comprising one of the elements does not exclude the presence of other like elements in the process, method, article, or apparatus that comprises the element.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. An intelligent four-wheel steering line control chassis comprises a frame (1), 4 groups of wheel edge assemblies and an electric control unit, and is characterized in that the frame (1) is formed by welding 20X20 square steel and angle steel;
the frame (1) is composed of a cross beam, a longitudinal beam, a vertical beam, a storage battery mounting bracket and a controller mounting bracket component;
the 4 groups of wheel edge assemblies respectively comprise a wheel (2), a speed reduction driving motor (11), an upper bearing seat and a lower bearing seat (4), a bidirectional thrust bearing (5), a corner sensor (6), a steering motor (7), a first transition support (8), a second transition support (9), a third transition support (10) and a fourth transition support (3);
the bidirectional thrust bearing (5) is arranged in the upper and lower bearing seats (4), the upper and lower rings of the bidirectional thrust bearing (5) are rigidly connected with the upper and lower bearing seats (4), the bidirectional thrust bearing (5) is rigidly connected with the third transition support (10) and the fourth transition support (3), and the middle ring of the bidirectional thrust bearing (5) freely rotates with the upper and lower rings;
the corner sensor (6) is fixed on a first transition support (8), the middle ring of the corner sensor (6) is rigidly connected with a second transition support (9), and the second transition support (9) is fixed on a third transition support (10) so as to be rigidly connected with the wheel (2);
the steering motor (7) is fixed on the first transition support (8), and an output shaft of the steering motor (7) is rigidly connected with the third transition support (10);
the battery installing support is provided with a battery (12), and the battery (12) is provided with a battery connector (13).
2. The intelligent four-wheel steering-by-wire chassis of claim 1, wherein the electronic control unit is composed of an MCU module, a CAN module, a power module, a connector module, a motor drive module, a sensor and a wire harness.
3. The intelligent four-wheel steering drive-by-wire chassis of claim 2, wherein the MCU module main chip is an automobile-grade single chip microcomputer which is a NXP 32-bit MCU SPC 5604.
4. The intelligent four-wheel steering-by-wire chassis according to claim 2, wherein the CAN module main chip is an automobile-level communication chip which is TJA1050 of NXP.
5. The intelligent four-wheel steering-by-wire chassis according to claim 2, wherein the main chip of the power module is an automobile-grade DCDC chip TPS 5420.
6. The intelligent four-wheel steering drive-by-wire chassis of claim 2, wherein the motor driving module main chip selects an English flying slush BTN8962 half-bridge driving chip to drive the hub motor and the steering motor, and the rotation angle sensor (6) selects a rotation angle sensor under a steering wheel of an automobile.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022852192.2U CN214240971U (en) | 2020-12-02 | 2020-12-02 | Intelligent four-wheel steering wire control chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022852192.2U CN214240971U (en) | 2020-12-02 | 2020-12-02 | Intelligent four-wheel steering wire control chassis |
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| Publication Number | Publication Date |
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| CN214240971U true CN214240971U (en) | 2021-09-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022852192.2U Active CN214240971U (en) | 2020-12-02 | 2020-12-02 | Intelligent four-wheel steering wire control chassis |
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| CN (1) | CN214240971U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114408021A (en) * | 2022-02-07 | 2022-04-29 | 山东理工大学 | Wire control high-performance modular chassis with four wheels capable of independently adjusting vertical and horizontal movement |
-
2020
- 2020-12-02 CN CN202022852192.2U patent/CN214240971U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114408021A (en) * | 2022-02-07 | 2022-04-29 | 山东理工大学 | Wire control high-performance modular chassis with four wheels capable of independently adjusting vertical and horizontal movement |
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