CN105667587B - A kind of walking steering mechanism of electric car - Google Patents
A kind of walking steering mechanism of electric car Download PDFInfo
- Publication number
- CN105667587B CN105667587B CN201610012176.8A CN201610012176A CN105667587B CN 105667587 B CN105667587 B CN 105667587B CN 201610012176 A CN201610012176 A CN 201610012176A CN 105667587 B CN105667587 B CN 105667587B
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- Prior art keywords
- connecting rod
- hinged
- electric car
- axis
- motor
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
- B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/30—Arrangement or mounting of transmissions in vehicles the ultimate propulsive elements, e.g. ground wheels, being steerable
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/34—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles
- B60K17/356—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles having fluid or electric motor, for driving one or more wheels
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
Abstract
The invention discloses a kind of walking steering mechanism of electric car, belongs to electric car design and manufacturing technology field.It can realize the rotating in place of electric car, laterally walking and oblique walking function.The lower end of steering wheel assembly is provided with the first gear engaged with preceding rack, and the both ends of preceding rack are respectively equipped with the first connecting rod be hinged with it；The both ends of the side girder of chassis two are provided with front beam and rear cross beam, axis is provided with the middle part of two side girders, the middle part of axis is provided with the driven gear engaged with driving gear, the openend top of shaft coupling is hinged with wheel hub turning part, the through hole of shaft coupling and front beam and rear cross beam both ends is hinged, the shaft coupling other end is hinged with first connecting rod, the middle part of drive connecting rod is fixed with axis, the both ends of drive connecting rod are hinged with one end of second connecting rod respectively, the other end of second connecting rod and one end of third connecting rod are hinged, and the other end of third connecting rod is fixed through positioning hole with rack sleeve.It is mainly used in electric car.
Description
Technical field
The invention belongs to Design of Electric Vehicles manufacturing technology field.
Background technology
With the rapid consumption of the fossil fuels such as oil, natural gas, and the energy crisis thus brought and environmental pollution
Increasingly sharpen, develop and become global pass using new, cleaning, safe regenerative resource and reduction discharge amount of pollution
Two large focal spots of note.And the development of automobile not only increases the consumption of earth resource, while also increase discharge amount of pollution.China
It is especially pronounced with environmental pollution as great powers in the world, resource scarcity.Therefore Development of EV becomes automobile industry development
Inexorable trend, the nationwide haze phenomenon occurred in the recent period are even more to improve this cry.The development of electric automobile is advantageous to
Alleviate resource scarcity and problem of environmental pollution, so increasing the flexibility of its steering, people can be met more conveniently
Demand,
According to retrieval, the technology for having the full steering mechanism of four motorized wheels at present occurs, such as Chinese Patent Application No.
" rotating direction control method and its device that electric automobile is laterally advanced and rotated in place ", the patent disclosed in 200810000129.7
Although described omnidirectional's controlling organization can realize rotating in place and its laterally walking for automobile, due to its worm and gear used
And the gearratio of feed screw nut is smaller, make turning velocity very slow；In addition, invention feed screw nut, the worm and gear etc.
Transmission mechanism, make general structure more complicated.For another example Chinese Patent Application No. 2015100801606 discloses " a kind of based on wheel
The comprehensive steering of electric automobile of hub motor ", described omnidirectional's control method are distinguished beside four wheels of dolly
One motor, the steering that independent control is respectively taken turns are installed, this method can not only increase complete vehicle weight, also increase control difficulty.More than
Omnidirectional's control method described in two patents can only all increase on the basis of conventional steering rotate in place with horizontal walking function,
Also it has been short of in terms of oblique walking function.
The content of the invention
It is an object of the invention to provide a kind of walking steering mechanism of electric car, it can realize the rotating in place of electric car,
Laterally walking and oblique walking function, flexibility and the diversity of electric automobile steering are substantially increased, makes electric automobile on the berth
Car and u-turn aspect are also more convenient.
The present invention reaches its purpose the technical scheme adopted is that a kind of walking steering mechanism of electric car, including chassis,
Four wheels and steering wheel assembly, its technical characteristics with wheel hub motor, brake disc and damping device are：Direction
The lower end of disc assembly is provided with the first gear engaged with preceding rack, and the both ends of preceding rack are respectively equipped with first be hinged with it and connected
Bar；The both ends of the side girder of chassis two are provided with front beam and rear cross beam, and the upper surface in the middle part of two side girders is provided with the bearing block of axis,
The both ends of axis are fixed by bearing and bearing block, and the middle part of axis is provided with the driven gear engaged with driving gear, axis
The installing plate of side-lower is provided with the first motor, and the output shaft of driving gear and the first motor is fixed；On the openend of shaft coupling
Portion is hinged with wheel hub turning part, and openend bottom and the damping device of shaft coupling are hinged, shaft coupling close to openend through hole with
Front beam and the through hole at rear cross beam both ends are hinged, and the through hole of the shaft coupling other end and the other end of first connecting rod are hinged, and are actively connected
Position of the middle part of bar with axis both ends on the inside of bearing block is fixed, and the positioning crossbeam that both ends are provided with positioning hole is set in parallel in
Axis both sides；The both ends of drive connecting rod are hinged with one end of second connecting rod respectively, the other end of second connecting rod and third connecting rod
One end is hinged, and the other end of third connecting rod is fixed through positioning hole with rack sleeve；The middle part of rear cross beam is provided with the second motor
Mounting seat, the second gear that the output shaft of the second motor engages with rear rack are fixed.
The shaft coupling shares four, and they are hinged one by one with the both ends of front beam and rear cross beam respectively.
The third connecting rod shares four, and their one end is each passed through the positioning hole of positioning crossbeam both sides, with both ends
Rack sleeve is fixed.
The second connecting rod shares four, their one end respectively be located at axis both ends drive connecting rod both ends cut with scissors
Connect, one end of the other end and third connecting rod is hinged.
The rack sleeve shares two, and they are equipped with preceding rack and rear rack respectively.
First motor and the second motor are stepper motor.
The course of work and operation principle of the present invention：Traditional first normal direction of rotation control is, by manipulate steering wheel come
The motion of rack-and-pinion is controlled, so as to realize the left-right rotation of vehicle front；Next is rotated in place and laterally walking is to pass through electricity
Machine drives the motion of a set of linkage, so that the forward and backward rack sleeve being connected with linkage is close to each other, when close
During to certain position, four wheels can rotate corresponding angle, and the orientation camber line for making four wheels is just in a circle, so as to
By controlling the steering of respective wheel hub motor to realize rotating in place for automobile, when rack sleeve continues close to beeline
When, four wheels are parallel to each other and parallel with chassis crossrail, therefore by controlling the steering of respective wheel hub motor to realize laterally
Walking；In addition, after making front-drive certain angle, then the course changing control motor control for passing through trailing wheel independence by control direction disk
Wheel rotates respective angles, makes front and back wheel parallel in same gradient, so as to realize the oblique walking of electric automobile.
Compared with the prior art, the beneficial effects of the invention are as follows：
The full steering mechanism of the present invention relates only to the transmission between rack-and-pinion, and gearratio can be bigger, so that turning to
Compare rapid agility.
The steer-drive of the present invention only uses two motors, and one of motor can pass through special connecting rod assembly machine
Structure is uniformly controlled the steering of front and back wheel, so as to realize that electric car rotates in place and laterally walking；Another translator is individually controlled
Rear-axle steering processed, to coordinate the control of the conventional steering of front-wheel to realize the oblique walking of electric car.So generally reduce electricity
The quantity of machine, reduces chassis weight, increases economy, and adds oblique walking function.
The core of the present invention is double cam so that the overall structure of vehicle is simple, reliable.
Brief description of the drawings
Fig. 1 is longitudinal driving state graphics of the present invention
Fig. 2 is cross running state graphics of the present invention
Fig. 3 is the chassis graphics of the present invention
Fig. 4 is bindiny mechanism's graphics between two front-wheels (or two trailing wheels) of the invention
Fig. 5 is the shaft coupling association parts locally graphics of the present invention
Fig. 6 is the rear-axle steering mechanism graphics of the present invention
Fig. 7 is the front-rear axle synchronization steering gear partial 3 d figure of the present invention
Embodiment
With reference to the accompanying drawings and detailed description, the present invention is described in further detail.
A kind of walking steering mechanism of electric car, including chassis 4, with wheel hub motor, brake disc 19 and damping device 20
Four wheels 1 and steering wheel assembly 23, it is mainly characterized by：The lower end of steering wheel assembly 23 is provided with and nibbled with preceding rack 26
The first gear 13 of conjunction, the both ends of preceding rack 26 are respectively equipped with the first connecting rod 3 be hinged with it；The both ends of the 4 liang of side girders in chassis
Provided with front beam 24 and rear cross beam 25, the upper surface in the middle part of two side girders is provided with the bearing block 21 of axis 22, the both ends of axis 22
Fixed by bearing and bearing block 21, the middle part of axis 22 is provided with the driven gear 15 engaged with driving gear 14, axis 22
The installing plate of side-lower is provided with the first motor 16, and the output shaft of driving gear 14 and the first motor 16 is fixed；Shaft coupling 2 is opened
Mouth end top is be hinged with wheel hub turning part 12, and the openend bottom of shaft coupling 2 and damping device 20 are be hinged, and shaft coupling 2 is close opens
The through hole of the through hole and front beam 24 and the both ends of rear cross beam 25 at mouth end is hinged, through hole and the first connecting rod 3 of the other end of shaft coupling 2
The other end is hinged, and the middle part of drive connecting rod 11 is fixed with the both ends of axis 22 close to the position of the inner side of bearing block 21, and both ends are provided with fixed
The positioning crossbeam 9 in position hole 10 is set in parallel in the both sides of axis 22；Cut with scissors respectively with one end of second connecting rod 5 at the both ends of drive connecting rod 11
Connect, one end of the other end and third connecting rod 8 of second connecting rod 5 is hinged, and the other end of third connecting rod 8 passes through positioning hole 10 and rack
Sleeve 7 is fixed；The middle part of rear cross beam 25 is provided with the mounting seat of the second motor 18, and the output shaft of the second motor 18 is nibbled with rear rack 6
The second gear 17 of conjunction is fixed.
The shaft coupling 2 shares four, and they are hinged one by one with the both ends of front beam 24 and rear cross beam 25 respectively.
The third connecting rod 8 shares four, and their one end is each passed through the positioning hole 10 of positioning crossbeam 9 both sides, with two
The rack sleeve 7 at end is fixed.
The second connecting rod 5 shares four, their one end respectively with the drive connecting rod 11 that is located at the both ends of axis 22 two
End is be hinged, and one end of the other end and third connecting rod 8 is hinged.
The rack sleeve 7 shares two, and they are equipped with preceding rack 26 and rear rack 6 respectively.
The motor 18 of first motor 16 and second is stepper motor.
The course of work and operation principle of the present invention：Traditional first normal direction of rotation control is, by manipulate steering wheel come
The motion of rack-and-pinion is controlled, so as to realize the left-right rotation of vehicle front-wheel；Next is rotated in place and laterally walking is to pass through electricity
Machine drives the motion of a set of double cam, so that the front and rear rack sleeve being connected with linkage is close to each other, when
During close to certain position, four wheels can rotate corresponding angle, and the orientation camber line for making four wheels is just in a circle,
So that by controlling the rotation of respective wheel hub motor to realize rotating in place for vehicle, when rack sleeve continues close to most short
Apart from when, four wheels are parallel to each other and parallel with chassis crossrail, therefore by controlling the rotation of respective wheel hub motor to realize
Laterally walking；In addition, front-drive certain angle, then the course changing control motor control for passing through trailing wheel independence are made by control direction disk
Rear wheel respective angles processed, make front and back wheel parallel in same gradient, so as to realize the oblique walking of electric car.
Claims (6)
1. a kind of walking steering mechanism of electric car, including chassis (4), with wheel hub motor, brake disc (19) and damping device
(20) four wheels (1) and steering wheel assembly (23), it is characterised in that：The lower end of steering wheel assembly (23) is provided with and nipper
The first gear (13) of bar (26) engagement, the both ends of preceding rack (26) are respectively equipped with the first connecting rod be hinged with it (3)；Chassis
The both ends of (4) two side girders are provided with front beam (24) and rear cross beam (25), and the upper surface in the middle part of two side girders is provided with axis (22)
Bearing block (21), the both ends of axis (22) are fixed by bearing and bearing block (21), and the middle part of axis (22) is provided with and actively
The driven gear (15) of gear (14) engagement, the installing plate of the side-lower of axis (22) are provided with the first motor (16), driving tooth
Wheel (14) and the output shaft of the first motor (16) are fixed；The openend top of shaft coupling (2) is be hinged with wheel hub turning part (12), connection
The openend bottom of joint (2) is be hinged with damping device (20), shaft coupling (2) close to openend through hole and front beam (24) and
The through hole at rear cross beam (25) both ends is hinged, and the other end of the through hole and first connecting rod (3) of shaft coupling (2) other end is hinged, actively
Position of the middle part of connecting rod (11) with axis (22) both ends on the inside of bearing block (21) is fixed, and both ends are provided with positioning hole (10)
Positioning crossbeam (9) is set in parallel in axis (22) both sides；Cut with scissors respectively with one end of second connecting rod (5) at the both ends of drive connecting rod (11)
Connect, one end of the other end and third connecting rod (8) of second connecting rod (5) is hinged, and the other end of third connecting rod (8) passes through positioning hole
(10) it is fixed with rack sleeve (7)；The middle part of rear cross beam (25) is provided with the mounting seat of the second motor (18), the second motor (18)
The second gear (17) that output shaft engages with rear rack (6) is fixed.
A kind of 2. walking steering mechanism of electric car according to claim 1, it is characterised in that：The shaft coupling (2) is altogether
There are four, their both ends respectively with front beam (24) and rear cross beam (25) are hinged one by one.
A kind of 3. walking steering mechanism of electric car according to claim 1, it is characterised in that：The third connecting rod (8)
Four are shared, their one end is each passed through the positioning hole (10) of positioning crossbeam (9) both sides, solid with the rack sleeve (7) at both ends
It is fixed.
A kind of 4. walking steering mechanism of electric car according to claim 1, it is characterised in that：The second connecting rod (5)
Four are shared, the both ends of their one end drive connecting rod (11) with being located at axis (22) both ends respectively are hinged, the other end and
One end of three connecting rods (8) is hinged.
A kind of 5. walking steering mechanism of electric car according to claim 1, it is characterised in that：The rack sleeve (7)
Two are shared, they are equipped with preceding rack (26) and rear rack (6) respectively.
A kind of 6. walking steering mechanism of electric car according to claim 1, it is characterised in that：First motor (16)
It is stepper motor with the second motor (18).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610012176.8A CN105667587B (en) | 2016-01-07 | 2016-01-07 | A kind of walking steering mechanism of electric car |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610012176.8A CN105667587B (en) | 2016-01-07 | 2016-01-07 | A kind of walking steering mechanism of electric car |
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| Publication Number | Publication Date |
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| CN105667587A CN105667587A (en) | 2016-06-15 |
| CN105667587B true CN105667587B (en) | 2017-12-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610012176.8A Active CN105667587B (en) | 2016-01-07 | 2016-01-07 | A kind of walking steering mechanism of electric car |
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| CN (1) | CN105667587B (en) |
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| CN108001527A (en) * | 2017-11-16 | 2018-05-08 | 西南交通大学 | A kind of full steering chassis |
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| CN109334725B (en) * | 2018-10-30 | 2023-09-29 | 浙江亚普自动化装备科技股份有限公司 | Logistics conveying trolley convenient to turn |
| CN110481306A (en) * | 2019-09-05 | 2019-11-22 | 山东理工大学 | A kind of robot damping chassis flexibly turned to |
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| CN105667587A (en) | 2016-06-15 |
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Effective date of registration: 20201204 Address after: 215134 south side of the 3rd floor, R & D building, China auto parts industrial base, No. 19, aighao Road, Weitang Town, Xiangcheng District, Suzhou City, Jiangsu Province Patentee after: Suzhou Zhenwei Town Construction Development Co., Ltd Address before: 610031 Sichuan City, Chengdu Province, No. two North Ring Road, No. 111 Patentee before: SOUTHWEST JIAOTONG University |