CN220742687U - Four-wheel independent driving system and wheeled vehicle - Google Patents
Four-wheel independent driving system and wheeled vehicle Download PDFInfo
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- CN220742687U CN220742687U CN202321901841.0U CN202321901841U CN220742687U CN 220742687 U CN220742687 U CN 220742687U CN 202321901841 U CN202321901841 U CN 202321901841U CN 220742687 U CN220742687 U CN 220742687U
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Abstract
The utility model provides a four-wheel independent driving system and a wheeled vehicle, wherein the four-wheel independent driving system mainly comprises four wheels driven by independent driving motors, two composite controllers, a whole vehicle controller and four axle load sensors, wherein the axle load sensors are used for respectively detecting the change of the weight of the axle cores of the four wheels, the change of the working radius of each wheel is judged after calculation through a control algorithm of the whole vehicle controller, and the output of the driving motor is controlled by the composite controller to control the rotating speed of the corresponding wheel; meanwhile, the change of the real-time turning radius of each wheel is detected, so that the rotating speed of each wheel is independently controlled, a large amount of parasitic power is effectively reduced, and the power loss is reduced.
Description
Technical Field
The utility model relates to the technical field of wheeled vehicles, in particular to a four-wheel independent driving system and a wheeled vehicle.
Background
With the increasing prominence of global warming, energy conservation and emission reduction of wheeled vehicles have become a focus of attention in various countries worldwide. Taking a wheeled vehicle of a construction machine as an example: the method has the characteristics of large dosage, high energy consumption and poor emission, and blocks the green development process. The electric engineering machine is an important way for realizing energy conservation and emission reduction of engineering machines, and the engineering machine with the full electric drive and full distributed configuration is a final ideal scheme for electric development, so that the research on the distributed independent drive type engineering machine has great significance for protecting environment and saving energy.
The driving system is an important component of the wheel type engineering machinery, the driving transmission chain component of the traditional wheel type loader is sequentially an engine, a hydraulic coupler, a gearbox, a transmission shaft, a differential mechanism, a transmission half shaft, a wheel edge speed reducer, a hub and a tire, the wheel type engineering machinery is provided with a low-pressure tire, and often runs on a road with uneven road conditions, the traditional driving system has many links, the efficiency is low, the decoupling-free centralized driving system enables the rolling radius time variability of the tire to be extremely strong, a large amount of parasitic power is generated, and the problems that the traditional wheel type engineering machinery or the pure electric centralized driving system has low efficiency and high energy consumption can not be solved yet.
Disclosure of Invention
In view of the above, an object of the present utility model is to provide a four-wheel independent drive system and a wheeled vehicle to solve the above problems.
The utility model adopts the following scheme:
the application provides a four-wheel independent driving system, which comprises a front frame, a rear frame, four driving motors, four wheels, four transmission shafts, four shaft load sensors, a whole vehicle controller, a first composite controller, a second composite controller and a power battery, wherein the front frame is connected with the rear frame through the transmission shafts; the driving motor is fixed on the front frame and the rear frame and is respectively connected with four wheels through the transmission shaft; the first composite controller is arranged on the front frame and used for respectively controlling the rotating speeds of the two driving motors on the front frame; the second combiner is arranged on the rear frame and used for respectively controlling the rotating speeds of the two driving motors on the rear frame; the four axle load sensors are respectively arranged at the joints of the four transmission shafts and the frame and used for detecting the load change of the transmission shafts; the power battery is electrically connected with the whole vehicle controller, the driving motor and the composite controller; the whole vehicle controller is electrically connected with the first composite controller, the second composite controller and the axle load sensor.
Further comprises an encoder and two steering cylinders, the encoder is arranged on a steering column of the steering wheel through a revolute pair and is electrically connected with the whole vehicle controller; the two steering cylinders are used for driving the front left wheel and the front right wheel to realize steering; which is electrically connected with the vehicle controller.
Further, the intelligent vehicle control system also comprises a laser radar which is electrically connected with the whole vehicle controller and used for detecting road conditions in front of the vehicle.
Further, the method comprises the steps of, the device also comprises a first gyroscope and a second gyroscope; the first gyroscope is arranged on the front frame; the second gyroscope is arranged on the rear frame; the first gyroscope and the second gyroscope are electrically connected with the whole vehicle controller.
Further, the power battery is electrically connected with the whole vehicle controller, the driving motor and the composite controller.
Further, the electrical connection CAN is connected.
Further, the wheels are connected with the transmission shaft through universal joints, and the transmission shaft is connected with the driving motor through universal joints.
Further, the four driving motors have no direct mechanical connection relationship.
The utility model also provides a wheeled vehicle comprising the four-wheel independent driving system.
By adopting the technical scheme, the utility model can obtain the following technical effects:
the utility model provides a four-wheel independent driving system, which mainly comprises four wheels driven by independent driving motors, two composite controllers, a whole vehicle controller and four axle load sensors, wherein the axle load sensors are used for respectively detecting the weight change of the axle cores of the four wheels, and the change of the working radius of each wheel is judged after calculation through the control algorithm of the whole vehicle controller, and then the output of the driving motor is controlled by the composite controller to control the rotating speed of the corresponding wheel; meanwhile, the change of the real-time turning radius of each wheel is detected, so that the rotating speed of each wheel is independently controlled, a large amount of parasitic power is effectively reduced, and the power loss is reduced.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some examples of the present utility model and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic side view of a wheeled vehicle according to an embodiment of the present utility model;
FIG. 2 is a schematic view of the bottom structure of a milling wheel type vehicle according to an embodiment of the present utility model;
icon: the vehicle comprises a front frame 1, a rear frame 2, a driving motor 3, wheels 4, an axle load sensor 5, a first composite controller 6, a second composite controller 7, a power battery 8, a steering cylinder 9, a first gyroscope 10, a second gyroscope 11, a vehicle controller 12, an encoder 13, a laser radar 14 and a steering wheel 15.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present utility model more apparent, the technical solutions of the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model, and it is apparent that the described embodiments are some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present utility model without making any inventive effort, are intended to fall within the scope of the present utility model. Thus, the following detailed description of the embodiments of the utility model, as presented in the figures, is not intended to limit the scope of the utility model, as claimed, but is merely representative of selected embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present utility model without making any inventive effort, are intended to fall within the scope of the present utility model.
Examples
As shown in fig. 1 and 2, the present embodiment takes a wheeled vehicle as an example, and has a four-wheel independent driving system, including a front frame 1, a rear frame 2, four driving motors 3, four wheels 4, four transmission shafts, four axle load sensors 5, a whole vehicle controller 12, a first composite controller 6, a second composite controller 7, and a power battery 8; the front frame 1 and the rear frame the frame 2 is connected through a revolute pair hinge; the driving motor 3 is fixed on the front frame 1 and the rear frame 2, the transmission shaft is connected with the driving motor 3 through universal joints, and the transmission shaft is respectively connected with four wheels 4 through universal joints; the four driving motors 3 are not in direct mechanical connection, so that energy loss between mechanical transmission is greatly reduced; the first composite controller 6 is arranged on the front frame 1 and is used for respectively controlling the rotating speeds of the two driving motors 3 on the front frame 1; the second combiner is arranged on the rear frame 2 and is used for respectively controlling the rotating speeds of the two driving motors 3 on the rear frame 2; the four axle load sensors 5 are respectively arranged at the joints of the four transmission shafts and the frame and are used for detecting the load change of the transmission shafts; the power battery 8 is electrically connected with the whole vehicle controller 12, the driving motor 3 and the composite controller; the vehicle controller 12 is electrically connected with the first composite controller 6, the second composite controller 7 and the axle load sensor 5. The axle load sensor 5 is used for detecting the change of the axle core weight of the four wheels 4 respectively, and judging the change of the working radius of each wheel 4 after calculation through the control algorithm of the whole vehicle controller 12, and then controlling the output of the driving motor 3 through the composite controller to control the rotating speed of the corresponding wheel 4, so that a large amount of parasitic power is effectively reduced, and the power loss is reduced.
In this embodiment, the vehicle control system further includes an encoder 13 and two steering cylinders 9, where the encoder 13 is installed on a steering column of a steering wheel 15 through a revolute pair and is electrically connected with the vehicle control unit 12; the two steering cylinders 9 are used for driving the front left wheel and the front right wheel to realize steering; which is electrically connected to the vehicle control unit 12; when the four-wheel vehicle walks on a flat road surface, the encoder 13 can sense the turning angle of the steering wheel 15, and then sends a control signal to the steering cylinder 9 after calculation by the whole vehicle controller 12 so as to control the turning direction; meanwhile, the turning amplitude of the vehicle is calculated through the whole vehicle controller 12 by the steering wheel 15 turning angle perceived by the encoder 13, and then the output of the driving motor 3 is controlled through the combiner, to increase the rotational speed of the wheel positioned outside the turning radius and/or to decrease the rotational speed of the wheel positioned inside the turning radius to reduce parasitic power generation.
In this embodiment, the vehicle control system further includes a lidar 14 electrically connected to the vehicle controller 12 for detecting road conditions in front of the vehicle; for example, when the vehicle travels straight, the lidar 14 senses the protrusion of the road surface in front of the front right tire, and when the vehicle travels there, the first and second compound controllers 6 and 7 control the rotation speeds of the driving motors 3 of the front right wheel and the rear right wheel to increase, respectively, so as to reduce the generation of parasitic power.
In the present embodiment, the first gyroscope 10 and the second gyroscope 11 are further included; the first gyroscope 10 is arranged on the front frame 1; the second gyroscope 11 is arranged on the rear frame 2; the first gyroscope 10 and the second gyroscope 11 are electrically connected with the vehicle control unit 12; the first gyroscope 10 on the front frame 1 senses the yaw rate of the front frame 1, and if the front frame 1 is yaw right, the first compound controller 6 controls the rotation speed of the driving motor 3 at the front left wheel to decrease or the rotation speed of the driving motor 3 at the front right wheel to increase; if the front frame 1 swings leftwards, the first composite controller 6 controls the rotation speed of the driving motor 3 on the front left wheel side to increase or the rotation speed of the driving motor 3 on the front right wheel side to decrease; if the rear frame 2 is yaw-ed to the left, the second compound controller 7 controls the rotation speed of the driving motor 3 at the rear left wheel to increase or the rotation speed of the driving motor 3 at the rear right wheel to decrease; if the rear frame 2 swings rightwards, the second composite controller 7 controls the rotation speed of the driving motor 3 at the rear left wheel to decrease or the rotation speed of the driving motor 3 at the rear right wheel to increase; until the yaw rate of the rear frame 2 is zero and until the yaw rate of the front frame 1 is zero, the wheel type engineering machinery runs along a straight line.
The electric connection is CAN connection, which CAN transmit and receive data in a point-to-point, one-to-many and broadcast centralized mode; the method has the advantages of strong instantaneity, long transmission distance, strong electromagnetic interference resistance and low cost; the dual-line serial communication mode is adopted, so that the error detection capability is high, and the system can work in a high noise interference environment.
It should be noted that, the axle load sensor 5, the encoder 13, the lidar 14 and the gyroscope may operate independently or may operate in a linkage manner at the same time, so as to better ensure the stability and smoothness of the vehicle running and eliminate parasitic power.
The utility model provides a four-wheel independent driving system, which mainly comprises four wheels 4 driven by an independent driving motor 3, two composite controllers, a whole vehicle controller 12 and four axle load sensors 5, wherein the axle load sensors 5 are used for respectively detecting the change of the axle core weight of the four wheels 4, the change of the working radius of each wheel 4 is judged after calculation by the whole vehicle controller 12, and then the output of the driving motor 3 is controlled by the composite controller to control the rotating speed of the corresponding wheel 4; meanwhile, the rotation speed of each wheel is independently controlled by detecting the change of the real-time rotation radius, the change of the turning amplitude and the change of the yaw rate of each wheel 4, so that a large amount of parasitic power is effectively reduced, and the power loss is reduced.
By adopting the four-wheel independent driving system, the wheel type vehicle can effectively solve the problems that the traditional driving system has more links, the efficiency is low, the rolling radius time variability of the tire is extremely strong due to the non-decoupling centralized driving system, and a large amount of parasitic power is generated and the energy consumption is high.
The above is only a preferred embodiment of the present utility model, and the scope of the present utility model is not limited to the above examples, all technical schemes belonging to the concept of the utility model belong to the protection scope of the utility model.
In the description of the present utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present utility model and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present utility model, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
In the present utility model, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.
In the present utility model, unless expressly stated or limited otherwise, a first feature "up" or "down" of a second feature may include direct contact of the first and second features, it may also be included that the first and second features are not in direct contact but are in contact by additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.
Claims (9)
1. A four-wheel independent driving system is characterized in that, the vehicle comprises a front frame, a rear frame, four driving motors, four wheels, four transmission shafts, four axle load sensors, a vehicle controller, a first composite controller, a second composite controller and a power battery; the driving motor is fixed on the front frame and the rear frame and is respectively connected with four wheels through the transmission shaft; the first composite controller is arranged on the front frame and used for respectively controlling the rotating speeds of the two driving motors on the front frame; the second composite controller is arranged on the rear frame and used for respectively controlling the rotating speeds of the two driving motors on the rear frame; the four axle load sensors are respectively arranged at the joints of the four transmission shafts and the frame, to detect the load change of the transmission shaft; the whole vehicle controller is electrically connected with the first composite controller, the second composite controller and the axle load sensor.
2. The four-wheel independent drive system according to claim 1, further comprising an encoder and two steering cylinders, wherein the encoder is mounted on a steering column of a steering wheel through a revolute pair and is electrically connected with the whole vehicle controller; the two steering cylinders are used for driving the front left wheel and the front right wheel to realize steering; which is electrically connected with the vehicle controller.
3. The four-wheel independent drive system according to claim 1, further comprising a lidar electrically connected to the vehicle controller for detecting road conditions ahead of the vehicle.
4. The four-wheel independent drive system according to claim 1, further comprising a first gyroscope and a second gyroscope; the first mentioned Gyroscope device is arranged on the front frame; the second gyroscope is arranged on the rear frame; the first gyroscope and the second gyroscope are electrically connected with the whole vehicle controller.
5. The four-wheel independent drive system according to claim 1, wherein, the power battery is electrically connected with the whole vehicle controller, the driving motor and the composite controller.
6. The four-wheel independent drive system according to any one of claim 1 to claim 5, the method is characterized in that the electrical connection is CAN connection.
7. The four-wheel independent drive system according to claim 1, wherein the wheels are connected to the propeller shaft by a universal joint, and the propeller shaft is connected to the drive motor by a universal joint.
8. The four-wheel independent drive system according to claim 1, zxfoom in that the method is characterized in that, the four driving motors are not in direct mechanical connection.
9. A wheeled vehicle comprising a four wheel independent drive system as claimed in any one of claims 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321901841.0U CN220742687U (en) | 2023-07-19 | 2023-07-19 | Four-wheel independent driving system and wheeled vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321901841.0U CN220742687U (en) | 2023-07-19 | 2023-07-19 | Four-wheel independent driving system and wheeled vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220742687U true CN220742687U (en) | 2024-04-09 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321901841.0U Active CN220742687U (en) | 2023-07-19 | 2023-07-19 | Four-wheel independent driving system and wheeled vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220742687U (en) |
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2023
- 2023-07-19 CN CN202321901841.0U patent/CN220742687U/en active Active
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