CN115476921B - Double-wheel steering drive axle, steering system, steering method and automobile - Google Patents
Double-wheel steering drive axle, steering system, steering method and automobile Download PDFInfo
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- CN115476921B CN115476921B CN202110601962.2A CN202110601962A CN115476921B CN 115476921 B CN115476921 B CN 115476921B CN 202110601962 A CN202110601962 A CN 202110601962A CN 115476921 B CN115476921 B CN 115476921B
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- 238000000034 method Methods 0.000 title claims abstract description 25
- 239000000725 suspension Substances 0.000 claims abstract description 26
- 230000007246 mechanism Effects 0.000 claims description 54
- 230000009467 reduction Effects 0.000 claims description 38
- 230000009977 dual effect Effects 0.000 claims description 21
- 238000009434 installation Methods 0.000 claims description 9
- 230000008878 coupling Effects 0.000 description 18
- 238000010168 coupling process Methods 0.000 description 18
- 238000005859 coupling reaction Methods 0.000 description 18
- 238000011065 in-situ storage Methods 0.000 description 13
- 230000033001 locomotion Effects 0.000 description 12
- 230000005540 biological transmission Effects 0.000 description 8
- 238000005452 bending Methods 0.000 description 6
- 230000008901 benefit Effects 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 3
- 238000005096 rolling process Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000003756 stirring Methods 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/02—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides
- B62D11/04—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of separate power sources
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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
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/001—Steering non-deflectable wheels; Steering endless tracks or the like control systems
- B62D11/003—Electric or electronic control systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0418—Electric motor acting on road wheel carriers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/043—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by clutch means between driving element, e.g. motor, and driven element, e.g. steering column or steering gear
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
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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
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K2007/0092—Disposition of motor in, or adjacent to, traction wheel the motor axle being coaxial to the wheel axle
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
Abstract
The application relates to a double-wheel steering drive axle, a steering system, a steering method and an automobile, wherein the double-wheel steering drive axle comprises a drive motor mounting steering seat, outer wheels, inner wheels, a first drive motor, a second drive motor and a clutch device, the inner wheels are arranged side by side on the inner sides of the outer wheels to form double wheels, and the upper end of the driving motor mounting steering seat is used for being rotatably connected to the suspension structure around a vertical axis. According to the double-wheel steering drive axle, the first drive motor and the second drive motor can respectively control the rotation speeds of the outer wheel and the inner wheel, so that the outer wheel and the inner wheel form a rotation speed difference, the rotation speed difference enables the tire tread of the inner wheel and the tire tread of the outer wheel to generate unequal friction counter force, and further steering torque for enabling the drive motor mounting steering seat to rotate around a vertical axis is generated, and double-wheel steering is completed.
Description
Technical Field
The application belongs to the technical field of automobile steering, and relates to a double-wheel steering drive axle, a steering system, a steering method and an automobile.
Background
The prior automobile steering axle structure generally adopts a structure with single wheels at the left side and the right side for a steering axle or a steering drive axle, and steering movement of the wheels in the prior art is realized through a steering wheel, a steering gear, a steering straight pull rod, a tie rod, a steering knuckle and the like. The principle of the steering wheel is that a steering axle speed reducing mechanism driven by rotation of a steering wheel drives a straight pull rod, a transverse pull rod, a steering knuckle and wheels, so that the wheels generate passive steering motion around a steering main pin or a ball pin.
The existing simple steering axle has the principle that a simple wheel rotating along with a steering wheel turns passively, and has the function of turning only a single wheel, if double tires are adopted, the condition that the inner tires are suspended can be caused due to the requirements of camber, toe-in, caster and the like of the wheels required for steering wheel positioning. If there is no camber, toe-in, caster, etc., the steering effort becomes very heavy, the steering of the wheels becomes difficult, the automatic alignment of the wheels becomes difficult, the wear of the steering tires becomes very severe, and finally, normal steering cannot be achieved. Thus, the existing simple steering axle cannot realize double-wheel steering.
The steering mechanism of the existing steering drive axle is the same as that of a pure steering axle, and only the structures such as a ball cage universal joint structure and the like are added to give consideration to the driving and steering functions. The steering structure cannot realize the driving and steering functions of the double wheels and cannot realize the in-situ steering function.
Disclosure of Invention
The technical problems to be solved by the application are as follows: aiming at the problem that the existing steering drive axle cannot realize the driving and steering functions of double wheels, the double-wheel steering drive axle, a steering system, a steering method and an automobile are provided.
In order to solve the technical problems, in one aspect, the application provides a double-wheel steering drive axle, which comprises a drive motor mounting steering seat, an outer wheel, an inner wheel, a first drive motor, a second drive motor and a clutch device, wherein the inner wheel is arranged on the inner side of the outer wheel side by side to form a double wheel, the upper end of the drive motor mounting steering seat is used for being rotatably connected to a suspension structure around a vertical axis, and the first drive motor and the second drive motor are arranged at the lower end of the drive motor mounting steering seat; the first driving motor is used for driving the outer side wheels to rotate, and the second driving motor is used for driving the inner side wheels to rotate;
The clutch device is connected between the first driving motor and the second driving motor and used for controlling the combination and disconnection of the first driving motor and the second driving motor; when the first driving motor and the second driving motor are disconnected, the first driving motor and the second driving motor can respectively control the rotating speeds of the outer wheel and the inner wheel so that the rotating speeds of the outer wheel and the inner wheel are different, and steering torque for enabling the double-wheel steering driving axle to rotate around the vertical axis by a preset angle is generated.
Optionally, the double wheels are located below the torsion rocker arm of the suspension structure, and the upper end of the driving motor mounting steering seat penetrates out of a gap between the outer side wheel and the inner side wheel to be used for being connected with the torsion rocker arm of the suspension structure.
Optionally, the double-wheel steering drive axle further comprises a first speed reducing mechanism and a second speed reducing mechanism, wherein the first speed reducing mechanism is connected between the first driving motor and the outer wheel, and the second speed reducing mechanism is connected between the second driving motor and the inner wheel;
the first speed reducing mechanism, the first driving motor, the clutch device, the second driving motor and the second speed reducing mechanism are sequentially arranged in a space formed by surrounding the outer side wheel and the inner side wheel from outside to inside.
Optionally, the driving motor installation steering seat comprises a steering arm and a motor installation seat which is connected with the lower end of the steering arm and is used for installing the first driving motor and the second driving motor, and the upper end of the steering arm is provided with an adapter seat which can rotate around the vertical axis and is connected with the torque rocker arm.
Optionally, a left-turning limiting block and a right-turning limiting block are arranged on the torsion rocker arm, and a limited turning block is arranged on the adapter seat;
when the driving motor installation steering seat rotates leftwards, the left-turning limiting block is abutted with the rotation limiting block to limit the maximum angle of the driving motor installation steering seat when rotating leftwards;
When the driving motor mounting steering seat rotates rightwards, the right-turning limiting block is abutted with the rotation limiting block to limit the maximum angle of the driving motor mounting steering seat when the driving motor mounting steering seat rotates rightwards.
Optionally, the ground contact point of the dual wheels is located rearward of the vertical axis in the front-rear direction of the vehicle.
Optionally, two ends of the first driving motor respectively penetrate out of the shell of the first driving motor, and two ends of the second driving motor respectively penetrate out of the shell of the second driving motor;
The clutch device is connected between the inner end of the output shaft of the first driving motor and the outer end of the output shaft of the second driving motor and used for controlling the combination and disconnection of the output shaft of the first driving motor and the output shaft of the second driving motor.
Optionally, the clutch device comprises an electric shifting fork, a combining sleeve, a meshing sleeve and combining teeth, wherein the combining teeth are fixed at the inner end of an output shaft of the first driving motor, the combining sleeve is provided with an inner spline hole, the combining teeth are provided with first external splines which are in spline fit with the inner spline hole, the meshing sleeve is fixed at the outer end of the output shaft of the second driving motor, the meshing sleeve is provided with second external splines, and the combining sleeve is constantly meshed with the second external splines through the inner spline hole so as to synchronously rotate along with the output shaft of the second driving motor;
When the electric shifting fork shifts the combination sleeve outwards, the combination sleeve is in spline connection with the combination teeth, so that the output shaft of the first driving motor is combined with the output shaft of the second driving motor, and when the electric shifting fork shifts the combination sleeve inwards, the combination sleeve is separated from the combination teeth, so that the output shaft of the first driving motor is separated from the output shaft of the second driving motor.
Optionally, the second driving motor and the first driving motor are symmetrically arranged on the inner side and the outer side of the driving motor mounting steering seat.
According to the double-wheel steering drive axle provided by the embodiment of the application, the first drive motor and the second drive motor can respectively control the rotating speeds of the outer wheel and the inner wheel, so that the rotating speed difference is formed between the outer wheel and the inner wheel, the unequal friction counter force is generated on the tire tread of the inner wheel and the tire tread of the outer wheel by the rotating speed difference, the unequal ground friction counter force is reacted on the double wheels, further, the steering moment for enabling the drive motor to rotate around the vertical axis is generated, the double wheels can automatically generate in-situ rotation around the rotating shaft (vertical axis) vertical to the ground, the double-wheel in-situ steering function is completed, and meanwhile, the double-wheel driving is realized.
In still another aspect, an embodiment of the present application further provides a steering system, including a steering device, front steering wheels, and two of the above-mentioned dual-wheel steering drive axles disposed opposite left and right, where the steering device is used to control steering of the front steering wheels.
Optionally, the front steering wheel comprises a left front steering wheel and a left steering wheel and a right steering wheel which are oppositely arranged left and right;
The steering device comprises a steering wheel, a steering gear, a steering straight pull rod, a transverse pull rod, a left steering knuckle and a right steering knuckle, wherein the left steering knuckle is connected with a left front steering wheel, the right steering knuckle is connected with a right front steering wheel, the transverse pull rod is connected with the left steering knuckle and the right steering knuckle, the lower end of the steering straight pull rod is connected with the transverse pull rod, the upper end of the steering straight pull rod is connected with the steering gear, and the steering wheel is connected with the steering gear.
In still another aspect, an embodiment of the present application further provides a steering method, including:
After receiving the double-wheel steering signal, the clutch device controls the first driving motor and the second driving motor to be disconnected, the first driving motor and the second driving motor respectively control the rotating speeds of the outer wheel and the inner wheel, and the rotating speed difference between the outer wheel and the inner wheel is adjusted to be a preset rotating speed difference to complete double-wheel steering;
After receiving the double-wheel return signal, the first driving motor and the second driving motor respectively control the rotating speeds of the outer wheel and the inner wheel, and the rotating speed difference between the outer wheel and the inner wheel is gradually restored to 0;
after receiving the double-wheel locking signal, the clutch device controls the first driving motor to be combined with the second driving motor.
The steering method provided by the embodiment of the application can realize the in-situ steering of the double wheels, so that the steering action with higher difficulty, such as reversing and warehousing at a narrow position, in-situ steering adjustment and the like, can be completed in a narrow space.
In still another aspect, an embodiment of the present application further provides a steering method, including:
S1, acquiring a steering wheel angle signal, transmitting the steering wheel angle signal to a whole vehicle controller, and controlling the steering of double wheels by a driving motor controller according to the steering wheel angle signal;
S2, after receiving the double-wheel steering signal, the whole vehicle controller controls the clutch device to act so as to control the first driving motor and the second driving motor to be disconnected, the whole vehicle controller sends a control instruction to the motor controller so as to respectively control the rotating speeds of the first driving motor and the second driving motor, the rotating speed difference between the outer wheel and the inner wheel is adjusted to be a preset rotating speed difference, and the double-wheel steering driving axle is driven to rotate around the vertical axis for a preset angle, so that the double-wheel rotates for a preset rotating angle, and the preset rotating angle of the double-wheel is the same as or opposite to the rotating direction of the front steering wheel;
S3, the whole vehicle controller controls the clutch device to act so as to control the first driving motor to be combined with the second driving motor, and the rotating angles of the two wheels are locked at preset rotating angles.
According to the steering method provided by the embodiment of the application, the steering can be completed in a narrow space through the combination of the steering of the conventional front steering wheel and the in-situ steering of the double wheels.
In still another aspect, an embodiment of the present application further provides a steering method, including:
S1, acquiring a steering wheel angle signal, transmitting the steering wheel angle signal to a whole vehicle controller, and controlling the steering of double wheels by a driving motor controller according to the steering wheel angle signal;
S2, after receiving the double-wheel steering signal, the whole vehicle controller controls the clutch device to act so as to control the first driving motor and the second driving motor to be disconnected, and sends a control instruction to the motor controller so as to respectively control the rotating speeds of the first driving motor and the second driving motor, so that the rotating speed difference between the outer wheel and the inner wheel is adjusted to be a preset rotating speed difference, and the double-wheel steering drive axle is driven to rotate around a vertical axis for a preset angle, and the double wheels are enabled to rotate to a preset rotating angle which is same with the front steering wheel;
s3, the whole vehicle controller controls the clutch device to act so as to control the first driving motor to be combined with the second driving motor, and the rotation angle of the double wheels is locked at a preset rotation angle;
s4, reversing and warehousing.
According to the steering method provided by the embodiment of the application, reversing and warehousing can be completed in a narrow space through the combination of the steering of the conventional front steering wheel and the in-situ steering of the double wheels.
In still another aspect, an embodiment of the present application further provides an automobile, which includes the dual-wheel steering drive axle or the steering system described above.
The automobile provided by the embodiment of the application has all the advantages of the double-wheel steering drive axle, the steering system and the steering method.
Drawings
FIG. 1 is a schematic illustration of a dual wheel steering drive axle provided in accordance with a first embodiment of the present application;
FIG. 2 is an enlarged view at a in FIG. 1;
FIG. 3 is a schematic illustration of the connection of a dual wheel steering axle to a suspension structure provided in accordance with a first embodiment of the present application;
FIG. 4 is a schematic illustration of the connection of a dual wheel steering axle to a suspension structure provided in accordance with a second embodiment of the present application;
FIG. 5 is a schematic illustration of the connection of a dual wheel steering axle to a suspension structure provided by a third embodiment of the present application;
FIG. 6 is a schematic view of a steering system provided by a fourth embodiment of the present application;
FIG. 7 is a flow chart of a steering method provided by a fifth embodiment of the present application;
FIG. 8 is a flow chart of a steering method provided by a sixth embodiment of the present application;
fig. 9 is a flowchart of a steering method provided by a seventh embodiment of the present application;
Fig. 10 is a schematic view of an automobile according to an embodiment of the present application.
Reference numerals in the specification are as follows:
1. The driving motor is provided with a steering seat; 11. a motor mounting seat; 111. a first mount; 112. a second mounting base; 12. a steering arm; 121. an adapter; 1211. a rotation limiting block; 1212. a boss; 2. a first driving motor; 21. an output shaft of the first drive motor; 3. a second driving motor; 31. an output shaft of the second drive motor; 4. a first reduction mechanism; 41. a first primary planetary gear reduction mechanism; 42. a first secondary planetary gear reduction mechanism; 5. a second reduction mechanism; 51. a second stage planetary gear reduction mechanism; 52. a second-stage planetary gear reduction mechanism; 6. a first brake; 7. a second brake; 8. an outer wheel; 9. an inboard wheel; 10. a clutch device; 101. an electric fork; 1011. a fork motor; 1012. a shifting fork swing arm; 10121. a poking block; 102. a combining sleeve; 1021. an annular groove; 103. a meshing sleeve; 104. a coupling tooth;
20. A suspension structure; 201. a torque rocker arm; 2011. a left-turn limiting block; 2012. a right turn limiting block; 2013. a vertical portion; 2014. a bending part; 2015. rotating the mounting base; 201a, front vertical portion; 201b, rear vertical; 201c, upper connection portion; 201d, a lower connection part; 202. an upper thrust plate; 203. a lower thrust plate; 204. an air spring; 205. a damper; 206. a kingpin bushing; 207. a bearing;
30. A kingpin;
40. A steering riser;
10000. an automobile; 1000. a steering system; 100. a steering device; 200. a front steering wheel; 300. double wheel steering drive axle.
Detailed Description
In order to make the technical problems, technical schemes and beneficial effects solved by the application more clear, the application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
First embodiment
Referring to fig. 1 to 3, the dual wheel steering drive axle provided in the first embodiment of the present application includes a driving motor mounting steering seat 1, an outer wheel 8, an inner wheel 9, a first driving motor 2, a second driving motor 3, and a clutch device 10, wherein the inner wheel 9 is disposed side by side on the inner side of the outer wheel 8 to form a dual wheel, the upper end of the driving motor mounting steering seat 1 is configured to be rotatably connected to a suspension structure 20 around a vertical axis, and the first driving motor 2 and the second driving motor 3 are mounted on the lower end of the driving motor mounting steering seat 1; the first driving motor 2 is used for driving the outer wheel 8 to rotate, and the second driving motor 3 is used for driving the inner wheel 9 to rotate.
The clutch device 10 is connected between the first driving motor 2 and the second driving motor 3 and is used for controlling the combination and disconnection of the first driving motor 2 and the second driving motor 3; when the first driving motor 2 and the second driving motor 3 are disconnected, the first driving motor 2 and the second driving motor 3 can respectively control the rotation speeds of the outer wheel 8 and the inner wheel 9 so that the rotation speed difference is formed between the outer wheel 8 and the inner wheel 9; the difference in rotational speed causes unequal frictional reaction forces to be generated against the tire treads of the outer wheel 8 and the inner wheel 9, thereby generating a steering torque that rotates the double wheel steering transaxle by a predetermined angle about the vertical axis.
More specifically, the steering function of the double wheel rotation speed difference is realized by transmitting a counter moment generated by a ground friction reaction force to the drive motor mounting steering seat 1 for fixing the housings of the first drive motor 2 and the second drive motor 3. Because the upper end of the driving motor mounting steering seat 1 is rotatably connected to the torsion rocker arm of the suspension structure around a vertical axis, only relative rotation movement can be generated between the driving motor mounting steering seat 1 and the torsion rocker arm, and movement in other directions is limited, so that the steering of the double wheels can be realized through the structure.
The second driving motor 3 and the first driving motor 2 are symmetrically arranged on the inner side and the outer side of the driving motor installation steering seat 1, and the following advantages are achieved:
(1) When the double wheels are in dynamic state, vibration generated when the two motors are combined is eliminated.
(2) When the double wheels are in dynamic state, the rotational inertia of the two motors is the same, and vibration is reduced.
(3) In the static state of the dual wheels, the outer wheels 8 and the inner wheels 9 are the same in wheel load so that the wear of the outer wheels 8 and the inner wheels 9 is uniform.
(4) When the double wheels steer, the torque of the two motors is prevented from influencing the steering.
Referring to fig. 3, the upper end of the motor-driven steering seat 1 is rotatably connected to a torsion rocker 201 of a suspension structure 20 about a vertical axis, and the torsion rocker 201 is typically used for an air suspension. The double wheels are positioned below the torsion rocker 201 of the suspension structure 20, and the upper end of the driving motor mounting steering seat 1 penetrates out of a gap between the outer wheel 8 and the inner wheel 9 for being connected with the torsion rocker of the suspension structure. On the premise of meeting certain strength and rigidity of the driving motor mounting seat 1, the smaller the gap spacing between the double wheels is, the smaller the space occupied by the double wheels is assembled, and the space of the motion envelope body inside the chassis and the carriage which are required to be occupied in the rotary motion is.
Referring to fig. 1, the dual wheel steering drive axle further includes a first reduction mechanism 4 and a second reduction mechanism 5, the first reduction mechanism 4 is connected between the first driving motor and the rim of the outer wheel 8, and the second reduction mechanism 5 is connected between the second driving motor 3 and the rim of the inner wheel 9. The first reduction mechanism 4, the first driving motor 2, the clutch device 10, the second driving motor 3 and the second reduction mechanism 5 are sequentially arranged in a space formed by surrounding the outer wheel 8 and the inner wheel 9 from outside to inside. The double-wheel steering drive axle is compact in structure and does not occupy too much space at the bottom of the automobile.
Referring to fig. 1 and 3, the driving motor mounting steering seat 1 includes a steering arm 12 and a motor mounting seat 11 connected to the lower end of the steering arm 12 for mounting the first driving motor 2 and the second driving motor 3, and an adapter seat 121 capable of rotating around a vertical axis and connected to the torque rocker 201 is disposed at the upper end of the steering arm 12. Through this driving motor mount pad structure 1, can be with first driving motor 2, second driving motor 3, first reduction gears 4, second reduction gears 5, first stopper 6, second stopper 7, outside wheel 8 and inboard wheel 9 an organic whole, realize that power transmission, speed reduction increase of two driving motors turn round, wheel braking, drive functions such as whole car. In addition, the driving motor mounting seat 1 is rotationally connected with the torsion rocker arm of the suspension structure, and the clutch device 10 can realize the steering function of double wheels. In addition, the drive motor mount 1 is fixed by the limitation of the torsional force of the torsional rocker arm except rotation, so that the suspension buffer function of the double wheels can be realized.
Referring to fig. 3, the torque rocker 201 is provided with a left-turn limiting block 2011 and a right-turn limiting block 2012, and the adaptor 121 is provided with a limited-turn block 1211; when the driving motor mounting steering seat 1 rotates leftwards, the left-turning limiting block 2011 is abutted with the rotation limiting block 1211 to limit the maximum angle of the driving motor mounting steering seat 1 when rotating leftwards (namely, the maximum turning angle of the left turning of the double wheels is limited); when the driving motor mounting steering seat 1 rotates rightward, the right-turn stopper 2012 abuts against the rotation limiting block 1211 to limit the maximum angle of the driving motor mounting steering seat 1 when rotating rightward (i.e., the maximum angle of the right turn of the dual wheels is limited). Thus, when the dual wheels are turned to a certain angle, the rotation limiting block 1211 plays a role of a steering limit so as to prevent the dual wheels from oversteering. The left-turning limiting block 2011 and the right-turning limiting block 2012 are vertically spaced at a certain distance, and are circumferentially spaced at a certain distance, namely are vertically staggered. The rotation limiting block 1211 extends along the vertical direction, and the length of the rotation limiting block 1211 is greater than the distance between the left rotation limiting block 2011 and the right rotation limiting block 2012, the left rotation limiting block 2011 is abutted against the upper end of the rotation limiting block 1211 to limit the maximum angle of the driving motor installation steering seat 1 when rotating leftwards, and the right rotation limiting block 2012 is abutted against the lower end of the rotation limiting block 1211 to limit the maximum angle of the driving motor installation steering seat 1 when rotating rightwards.
The grounding points of the double wheels (namely the grounding points of the outer wheels 8 and the inner wheels 9) are positioned behind the vertical axis in the front-rear direction of the automobile, a stable distance exists in the driving motor mounting steering seat 1, and the driving motor mounting steering seat 1 is subjected to the effect of the aligning moment of the stable distance, so that the double-wheel steering drive axle can be automatically stabilized in a straight running state, and the automatic aligning function of the double-wheel steering drive axle is ensured.
Referring to fig. 1, two ends of the first driving motor 2 respectively penetrate through the housing of the first driving motor 2, and two ends of the second driving motor 3 respectively penetrate through the housing of the second driving motor; the clutch device 10 is connected between the inner end of the output shaft 21 (also referred to as a rotor shaft) of the first driving motor 2 and the outer end of the output shaft 31 of the second driving motor 3, and is used for controlling the connection and disconnection of the output shaft 21 of the first driving motor 2 and the output shaft 31 of the second driving motor 3, so as to realize the power coupling and disconnection of the first driving motor 2 and the second driving motor 3. The output shaft 21 of the first drive motor 2 is coaxial with the output shaft 31 of the second drive motor 3. The advantage of setting like this is that double wheel steering transaxle compact structure can realize the single wheel individual control of every driving motor in order to realize turning to reduce the wearing and tearing of wheel tire, reduced the energy consumption. In addition, the double-wheel linkage control can be realized, the control program is simplified, the energy conversion efficiency of the driving motor controller is improved, and the driving efficiency is improved.
Referring to fig. 2, the clutch device 10 includes an electric fork 101, a coupling sleeve 102, a meshing sleeve 103 and a coupling tooth 104, the coupling tooth 104 is fixed at the inner end of the output shaft 21 of the first driving motor 2, the coupling sleeve 102 is provided with an inner spline hole, the coupling tooth 104 is provided with a first external spline in spline fit with the inner spline hole, the meshing sleeve 103 is fixed at the outer end of the output shaft 31 of the second driving motor 3, the meshing sleeve 103 is provided with a second external spline, and the coupling sleeve 102 is normally meshed with the second external spline through the inner spline hole so as to synchronously rotate with the output shaft 31 of the second driving motor 3; the electric shifting fork 101 is used for driving the combination sleeve 102 to move along a key groove of a second external spline of the engagement sleeve 103, so as to realize engagement and disengagement of the combination sleeve 102 and the first external spline of the combination tooth 104. When the electric fork 101 pulls the coupling sleeve 102 outwards, the coupling sleeve 102 is in spline connection with the coupling teeth 104, so that the output shaft 21 of the first driving motor 2 is coupled with the output shaft 31 of the second driving motor 3, and at this time, the rotation speed difference between the first driving motor 2 and the second driving motor 3 is 0. When the electric fork 101 moves the coupling sleeve 102 inward, the coupling sleeve 102 is disengaged from the coupling teeth 104, so that the output shaft 21 of the first driving motor 2 is separated from the output shaft 31 of the second driving motor 3.
In this embodiment, a rolling bearing is disposed at the inner end of the output shaft 21 of the first driving motor 2, and the outer end of the output shaft 31 of the second driving motor 3 is inserted into the inner ring of the rolling bearing, so as to maintain the required coaxiality of the two driving motors and reduce the rotational vibration of the two driving motors.
In this embodiment, as shown in fig. 2, an annular groove 1021 is provided on the outer wall of the coupling sleeve 102, the electric fork 101 includes a fork motor 1011 and a fork swing arm 1012, the fork motor 1011 is connected to a first end of the fork swing arm 1012, and a toggle block 10121 is provided at a second end of the fork swing arm 1012. The shift fork motor 101 is configured to drive the first end of the shift fork swing arm 1012 to rotate so that the shift fork swing arm 1012 swings around the first end thereof, and the swing of the shift fork swing arm 1012 pushes the groove wall of the annular groove 1021 outwards or inwards through the shift block 10121, so as to push the coupling sleeve 102 to slide outwards or inwards, thereby achieving engagement and disengagement between the coupling sleeve 102 and the coupling teeth 104.
In a specific embodiment, the stirring block 10121 is spherical, ellipsoidal, square, etc., and in this embodiment, the stirring block 10121 is spherical. The contact friction resistance between the spherical poking block 10121 and the groove wall of the annular groove 1021 is small.
In the first embodiment, referring to fig. 3, the suspension structure 20 is an air suspension structure, and the suspension structure 20 includes a torque rocker 201, an upper thrust plate 202, a lower thrust plate 203, an air spring 204 and a damper 205, wherein the upper thrust plate 202 is disposed above the lower thrust plate 203, the air spring 204 is disposed between the upper thrust plate 202 and the lower thrust plate 203, an upper end of the air spring 204 is fixed on a vehicle frame, and a lower end of the air spring 204 is fixed on the lower thrust plate 203. The damper 205 is located between the upper thrust plate 202 and the lower thrust plate 203, the upper end of the damper 205 is fixed on the frame, and the lower end of the damper 205 is fixed on the lower thrust plate 203.
The torque rocker 201 is L-shaped, and includes a vertical portion 2013 and a bending portion 2014, the bending portion 2014 extends along the front-rear direction of the vehicle, the rear end of the bending portion 2014 is connected to the lower end of the vertical portion 2013, the front end of the upper thrust plate 202 and the front end of the lower thrust plate 203 are hinged to the vehicle frame, and the rear end of the upper thrust plate 202 and the rear end of the lower thrust plate 203 are hinged to the vertical portion 2013 of the torque rocker 201. The upper end of the driving motor mounting steering seat 1 is rotatably connected to the bending part 2014 of the torque rocker 201 around a vertical axis.
The bending part 2014 is provided with a rotation mounting seat 2015, the upper end of the driving motor mounting steering seat 1 is rotatably connected to the rotation mounting seat 2015 through a rotation component, and the vertical axis is the axis of the rotation component.
In the first embodiment, the rotating component includes a main pin 30, the rotating mounting base 2015 includes a first mounting plate and a second mounting plate that are spaced up and down, the first mounting plate is provided with a first mounting hole, and the second mounting plate is provided with a second mounting hole coaxial with the first mounting hole; a boss 1212 extending into a gap between the first mounting plate and the second mounting plate is arranged at the upper end (the adapter 121) of the driving motor mounting steering seat 1, and a third mounting hole coaxial with the first mounting hole is arranged on the boss 1212; the suspension structure 20 further includes a first king pin bushing 206a, a second king pin bushing 206b, and a third king pin bushing 206c, the first king pin bushing 206a, the second king pin bushing 206b, and the third king pin bushing 206c are respectively assembled in the first mounting hole, the second mounting hole, and the third mounting hole, the outer ring of the first king pin bushing 206a is in interference fit with the first mounting hole, the outer ring of the second king pin bushing 206b is in interference fit with the second mounting hole, the outer ring of the third king pin bushing 206c is in interference fit with the third mounting hole, the king pin 30 is inserted into the first king pin bushing 206a, the third king pin bushing 206c, and the second king pin bushing 206b, and the king pin 30 is in transition fit (capable of generating relative rotation but not falling off) with the inner rings of the first king pin bushing 206a, the second king pin bushing 206b, and the third king pin bushing 206c, so that the driving motor mounting seat 1 can rotate around the vertical steering axis. In this way, the upper end of the drive motor mount knuckle mount 1 can be rotatably connected to the torsion rocker 201 of the suspension structure 20 by the kingpin 30.
The left-turn stopper 2011 and the right-turn stopper 2012 spaced apart from each other in the circumferential direction are provided on the front end surface of the bent portion 2014. The rotation limiting block 1211 is disposed on the boss 1212.
The kingpin bushing 206 here may also be replaced by a bearing.
The first reduction mechanism 4 and the second reduction mechanism 5 are planetary reduction mechanisms. More preferably, the first reduction mechanism 4 and the second reduction mechanism 5 are two-stage planetary gear reduction mechanisms.
The first speed reducing mechanism 4 comprises a first primary planetary gear speed reducing mechanism 41 and a first secondary planetary gear speed reducing mechanism 42, wherein a sun gear of the first primary planetary gear speed reducing mechanism 41 is connected with the outer end of the output shaft 21 of the first driving motor 2, a planet carrier of the first primary planetary gear speed reducing mechanism 41 is connected with a sun gear of the first secondary planetary gear speed reducing mechanism 42, and a planet carrier of the first secondary planetary gear speed reducing mechanism 42 is connected with a rim of the outer wheel 8 through a wheel nut; the second reduction mechanism 5 comprises a second primary planetary gear reduction mechanism 51 and a second secondary planetary gear reduction mechanism 52, a sun gear of the second primary planetary gear reduction mechanism 51 is connected with the inner end of the output shaft 31 of the second driving motor 3, a planet carrier of the second primary planetary gear reduction mechanism 51 is connected with a sun gear of the second secondary planetary gear reduction mechanism 52, and a planet carrier of the second secondary planetary gear reduction mechanism 52 is connected with a rim of the inner wheel 8 through a wheel nut.
The planet carrier of the first primary planetary gear reduction mechanism 41 is rigidly connected with the sun gear of the first secondary planetary gear reduction mechanism 42, a radial thrust ball bearing structure is designed between the planet carrier and the first transmission half shaft (a transmission shaft between the first reduction mechanism 4 and the rim of the outer wheel 8), and the inner spline side of the planet carrier of the first secondary planetary gear reduction mechanism 42 is externally splined with the first transmission half shaft. The planet carrier of the second-stage planetary gear reduction mechanism 51 is rigidly connected with the sun gear of the second-stage planetary gear reduction mechanism 52, a radial thrust ball bearing structure is designed between the planet carrier and a second transmission half shaft (a transmission shaft between the second reduction mechanism 5 and the rim of the inner wheel 9), and the inner spline side of the planet carrier of the second-stage planetary gear reduction mechanism 52 is externally splined to the second transmission half shaft.
Referring to fig. 1, the twin wheel steering axle further includes a first brake 6 and a second brake 7, the first brake 6 being used for braking of the outer wheel 8 and the second brake 7 being used for braking of the inner wheel 9, so that the outer wheel 8 and the inner wheel 9 can be braked respectively. Thus, the braking force can be independently distributed to the four wheels on the left side and the right side (the left side and the right side are double wheels), and the braking stability of the whole vehicle and the uniform abrasion of the tires of the single wheels are greatly improved.
According to the double-wheel steering drive axle provided by the embodiment of the application, the first drive motor 2 and the second drive motor 3 can respectively control the rotation speeds of the outer wheel 8 and the inner wheel 9, so that the rotation speed difference is formed between the outer wheel 8 and the inner wheel 9, the unequal friction counter force is generated on the outer wheel 8 and the tire tread of the inner wheel 9 on the ground, the unequal ground friction counter force is reacted on the double wheels, the steering moment for enabling the drive motor mounting steering seat 1 to rotate around the vertical axis is further generated, the double wheels can automatically generate in-situ rotation around the rotation axis (vertical axis) vertical to the ground, the in-situ steering function of the double wheels is completed, and the driving function of the double wheels is realized simultaneously because the outer wheel 8 and the inner wheel 9 are simultaneously rotated.
The design of the stable distance and the clutch device (the electric shifting fork structure) ensures the automatic alignment anti-interference steering function of the double wheels without the structures such as caster, camber, toe-in and steering column limiting blocks, the limiting function design (the cooperation of the limiting block 121, the left-turning limiting block 2011 and the right-turning limiting block 2012) realizes the double-wheel steering limiting function, the occurrence of the whole excessive turning motion of the double wheels during reversing is prevented, the positioning parameters of the double wheels are simple, the whole steering transmission mechanism is greatly simplified, the cost and the maintenance workload are obviously reduced, and the use reliability is improved.
The double-wheel steering drive axle adopts double-motor driven double-wheel steering, can realize the active steering movement of double-driving wheels structurally, can obviously reduce the turning diameter of the whole vehicle, and provides possibility for realizing the arrangement mode of large-wheelbase low-floor large-capacity passenger capacity of commercial vehicles (such as buses and the like).
The double-wheel steering driven by the double motors provides possibility for realizing the automatic steering control prospect of the double-wheel steering drive axle.
The possibility of the same-direction steering or reverse steering of the rear driving double wheels and the front steering single wheels can be realized, and the possibility is also provided for the flexibility of the whole vehicle running on various different running paths.
Second embodiment
Referring to fig. 4, a double-wheel steering drive axle provided by a second embodiment of the present application is different from the first embodiment in that the rotating member is a steering vertical pipe 40 vertically disposed at an upper end (a transfer seat 121) of the driving motor mounting steering seat 1, and the rotating mounting seat 2015 is provided with a vertical through hole; the suspension structure 20 further includes a bearing 207, an outer ring of the bearing 207 is interference fitted in the vertical through hole, the steering riser 40 passes through the vertical through hole, and the steering riser 40 is interference fitted in an inner ring of the bearing 207. The bearings 207 are provided in two, respectively at the upper and lower ends of the steering riser 40.
Third embodiment
Referring to fig. 5, a double wheel steering drive axle according to a third embodiment of the present application is different from the second embodiment in that the torque rocker 201 is D-shaped, the torque rocker 201 includes a front vertical portion 201a, a rear vertical portion 201b, an upper connecting portion 201c, and a lower connecting portion 201D, the upper connecting portion 201c and the lower connecting portion 201D extend in the front-rear direction, the upper connecting portion 201c is connected between an upper end of the front vertical portion 201a and an upper end of the vertical portion 201b, and the lower connecting portion 201D is connected between a lower end of the front vertical portion 201a and a lower end of the rear vertical portion 201 b; the upper end portion (adapter 121) of the steering arm 12 is rotatably connected to the front vertical portion 201a of the torque arm 201 via a steering riser 40.
Fourth embodiment
As shown in fig. 6, a fourth embodiment of the present application provides a steering system 1000 including a steering device 100 for controlling steering of front steered wheels 200, and two double-wheel steering transaxles 300 of the above-described embodiments disposed opposite left and right.
When applied to a four-wheel vehicle, the front steering wheel 200 comprises a left front steering wheel and a right front steering wheel which are oppositely arranged left and right; the steering device 100 comprises a steering wheel, a steering gear, a tie rod, a left knuckle and a right knuckle, wherein the left knuckle is connected with a left front steering wheel, the right knuckle is connected with a right front steering wheel, the tie rod is connected with the left knuckle and the right knuckle, the lower end of the tie rod is connected with the tie rod, the upper end of the tie rod is connected with the steering gear, and the steering wheel is connected with the steering gear.
When applied to a three-wheeled vehicle, the front steering wheel 200 is only one.
Fifth embodiment
As shown in fig. 7, a fifth embodiment of the present application provides a steering method, including:
After receiving the double-wheel steering signal, the clutch device controls the first driving motor and the second driving motor to be disconnected, the first driving motor and the second driving motor respectively control the rotating speeds of the outer wheel and the inner wheel, and the rotating speed difference between the outer wheel and the inner wheel is adjusted to be a preset rotating speed difference to complete double-wheel steering.
After receiving the double-wheel return signal, the first driving motor and the second driving motor respectively control the rotating speeds of the outer wheel and the inner wheel, and the rotating speed difference between the outer wheel and the inner wheel is gradually restored to 0. That is, the steering movement of the double wheels to the initial non-steering position is gradually made, that is, the double wheel steering transaxle is restored to the straight running state.
After receiving the double-wheel locking signal, the clutch device controls the first driving motor to be combined with the second driving motor. Because the grounding point of the double wheels is positioned behind the vertical axis, a stable distance exists between the driving motor and the mounting steering seat 1, and the double wheel steering driving axle can automatically be stabilized in a straight running state.
When the tire ground contact pavement of the two wheels is uneven and the ground rolling resistance is different, the two wheels in the straight running state can be disturbed, and the two-wheel mechanism can generate slight steering, and at the moment, the stable distance automatically plays a role in steering and correcting, so that the two-wheel steering drive axle is restored to the straight running state, and various disturbance steering movements are resisted.
When the double wheels steer to a certain position, the steering limiting block, the left-turning limiting block and the right-turning limiting block play a role in steering limiting so as to prevent the double wheels from oversteering.
When backing a car, control clutch makes first driving motor and second driving motor's output shaft (rotor shaft) combine, and double-wheel steering transaxle can't realize "differential" steering motion voluntarily to avoid the production of the unusual steering motion of double-wheel automatic 180 trend of back direction to steady distance.
The clutch device is of the electric shifting fork structure of the embodiment, and the shifting fork motor positively rotates to drive the shifting fork swing rod to swing outwards so as to push the combining sleeve to move outwards and combine with the first outer spline on the output shaft of the first driving motor, and at the moment, the clutch device controls the first driving motor to combine with the second driving motor. The shifting fork motor is reversely rotated to drive the shifting fork swing rod to swing inwards so as to push the combining sleeve to move inwards and separate from a first outer spline on an output shaft of the first driving motor, and at the moment, the clutch device controls the first driving motor to be disconnected from the second driving motor.
The dual wheel steering signal may be given by the driver, for example a push button provided in the vehicle. The system may also automatically send out a double wheel steering signal according to the current driving environment.
The double-wheel alignment signal can be given according to the steering wheel angle signal, or the system automatically sends the double-wheel alignment signal according to the current driving environment.
And when the vehicle is in a straight-line forward working condition or in a normal reverse working condition (large reverse space), the system gives out a double-wheel locking signal.
The steering method provided by the embodiment of the application can realize the in-situ steering of the double wheels, so that the steering action with higher difficulty, such as reversing and warehousing at a narrow position, in-situ steering adjustment and the like, can be completed in a narrow space.
Sixth embodiment
As shown in fig. 8, a sixth embodiment of the present application provides a steering method, including:
s1, acquiring a steering wheel angle signal, transmitting the steering wheel angle signal to a whole vehicle controller, and controlling the steering of the double wheels by a driving motor controller according to the steering wheel angle signal. Wherein the steering wheel angle signal refers to the direction and angle of the front steering wheel rotation position).
S2, after receiving the double-wheel steering signal, the whole vehicle controller controls the clutch device to act so as to control the first driving motor to be disconnected from the second driving motor, the whole vehicle controller sends a control instruction to the motor controller so as to respectively control the rotating speeds of the first driving motor and the second driving motor, the rotating speed difference between the outer wheel and the inner wheel is adjusted to be a preset rotating speed difference, and then the double-wheel steering driving axle is driven to rotate around the vertical axis for a preset angle, so that the double-wheel rotates for a preset rotating angle, and the preset rotating angle of the double-wheel is the same as or opposite to the rotating direction of the front steering wheel.
S3, the whole vehicle controller controls the clutch device to act so as to control the first driving motor to be combined with the second driving motor, and the rotating angles of the two wheels are locked at preset rotating angles.
The clutch device is of the electric shifting fork structure of the embodiment, and the shifting fork motor positively rotates to drive the shifting fork swing rod to swing outwards so as to push the combining sleeve to move outwards and combine with the first outer spline on the output shaft of the first driving motor, and at the moment, the clutch device controls the first driving motor to combine with the second driving motor. The shifting fork motor is reversely rotated to drive the shifting fork swing rod to swing inwards so as to push the combining sleeve to move inwards and separate from a first outer spline on an output shaft of the first driving motor, and at the moment, the clutch device controls the first driving motor to be disconnected from the second driving motor.
According to the steering method provided by the embodiment of the application, the steering can be completed in a narrow space through the combination of the steering of the conventional front steering wheel and the in-situ steering of the double wheels.
Seventh embodiment
As shown in fig. 9, a seventh embodiment of the present application provides a steering method, including:
S1, acquiring steering wheel corner signals and parking space characteristic signals, transmitting the steering wheel corner signals and the parking space characteristic signals to a whole vehicle controller, and controlling the steering of the double wheels by a driving motor controller according to the steering wheel corner signals and the parking space characteristic signals. Wherein the steering wheel angle signal refers to the direction and angle of the front steering wheel rotation position). The parking space characteristic signal refers to a parking space frame line characteristic, a lane induction sensor similar to a lane keeping system can be adopted to sense the parking space frame line, and the current position of the whole vehicle relative to the parking space frame line is also judged through calculation of the whole vehicle controller.
S2, after receiving the double-wheel steering signal, the whole vehicle controller controls the clutch device to act so as to control the first driving motor and the second driving motor to be disconnected, and sends a control instruction to the motor controller so as to respectively control the rotating speeds of the first driving motor and the second driving motor, the rotating speed difference between the outer wheel and the inner wheel is adjusted to be a preset rotating speed difference, and the double-wheel steering drive axle is driven to rotate around the vertical axis for a preset angle, so that the double wheels rotate to a preset rotating angle which turns together with the front steering wheel.
S3, the whole vehicle controller controls the clutch device to act so as to control the first driving motor to be combined with the second driving motor, and the rotating angles of the two wheels are locked at preset rotating angles.
S4, reversing and warehousing.
The clutch device is of the electric shifting fork structure of the embodiment, and the shifting fork motor positively rotates to drive the shifting fork swing rod to swing outwards so as to push the combining sleeve to move outwards and combine with the first outer spline on the output shaft of the first driving motor, and at the moment, the clutch device controls the first driving motor to combine with the second driving motor. The shifting fork motor is reversely rotated to drive the shifting fork swing rod to swing inwards so as to push the combining sleeve to move inwards and separate from a first outer spline on an output shaft of the first driving motor, and at the moment, the clutch device controls the first driving motor to be disconnected from the second driving motor.
And in the reversing and warehousing process, if the rotation angle of the two wheels needs to be adjusted again, repeating the steps S2-S3 until reversing and warehousing are completed.
According to the steering method provided by the embodiment of the application, reversing and warehousing can be completed in a narrow space through the combination of the steering of the conventional front steering wheel and the in-situ steering of the double wheels.
In addition, an embodiment of the present application also provides an automobile, which includes the dual wheel steering drive axle 300 or the steering system 1000 of the above embodiment.
The foregoing description of the preferred embodiments of the application is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the application.
Claims (14)
1. The double-wheel steering drive axle is characterized by comprising a drive motor mounting steering seat, outer wheels, inner wheels, a first drive motor, a second drive motor and a clutch device, wherein the inner wheels are arranged on the inner sides of the outer wheels side by side to form double wheels, the upper end of the drive motor mounting steering seat is used for being rotatably connected to a suspension structure around a vertical axis, and shells of the first drive motor and the second drive motor are fixedly arranged at the lower end of the drive motor mounting steering seat; the first driving motor is used for driving the outer side wheels to rotate, and the second driving motor is used for driving the inner side wheels to rotate;
The clutch device is connected between the first driving motor and the second driving motor and used for controlling the combination and disconnection of the first driving motor and the second driving motor; when the first driving motor and the second driving motor are disconnected, the first driving motor and the second driving motor can respectively control the rotating speeds of the outer wheel and the inner wheel so that the rotating speeds of the outer wheel and the inner wheel are different, and steering torque for enabling the double-wheel steering driving axle to rotate around the vertical axis by a preset angle is generated.
2. The dual wheel steering axle of claim 1, wherein the upper end of the drive motor mounting steering seat is rotatably connected to the torsion rocker arm of the suspension structure about a vertical axis, the dual wheels are positioned below the torsion rocker arm of the suspension structure, and the upper end of the drive motor mounting steering seat extends through a gap between the outboard wheel and the inboard wheel for connection with the torsion rocker arm of the suspension structure.
3. The dual wheel steering drive axle of claim 2, further comprising a first reduction mechanism coupled between the first drive motor and the outboard wheel and a second reduction mechanism coupled between the second drive motor and the inboard wheel;
the first speed reducing mechanism, the first driving motor, the clutch device, the second driving motor and the second speed reducing mechanism are sequentially arranged in a space formed by surrounding the outer side wheel and the inner side wheel from outside to inside.
4. The double-wheel steering drive axle according to claim 2, wherein the drive motor mounting steering seat comprises a steering arm and a motor mounting seat connected to the lower end of the steering arm for mounting the first drive motor and the second drive motor, and the upper end of the steering arm is provided with a switching seat capable of being rotatably connected to the torque rocker arm around the vertical axis.
5. The double-wheel steering drive axle according to claim 4, wherein a left-turning limiting block and a right-turning limiting block are arranged on the torsion rocker arm, and a limited turning block is arranged on the adapter seat;
when the driving motor installation steering seat rotates leftwards, the left-turning limiting block is abutted with the rotation limiting block to limit the maximum angle of the driving motor installation steering seat when rotating leftwards;
When the driving motor mounting steering seat rotates rightwards, the right-turning limiting block is abutted with the rotation limiting block to limit the maximum angle of the driving motor mounting steering seat when the driving motor mounting steering seat rotates rightwards.
6. The dual wheel steering drive axle of claim 1, wherein the ground point of the dual wheels is located rearward of the vertical axis in the fore-aft direction of the vehicle.
7. The double-wheel steering drive axle according to claim 1, wherein both ends of the first drive motor pass through the housing of the first drive motor, respectively, and both ends of the second drive motor pass through the housing of the second drive motor, respectively;
The clutch device is connected between the inner end of the output shaft of the first driving motor and the outer end of the output shaft of the second driving motor and used for controlling the combination and disconnection of the output shaft of the first driving motor and the output shaft of the second driving motor.
8. The double-wheel steering drive axle according to claim 7, wherein the clutch device comprises an electric fork, a combining sleeve, a meshing sleeve and combining teeth, the combining teeth are fixed at the inner end of an output shaft of the first drive motor, the combining sleeve is provided with an inner spline hole, the combining teeth are provided with first external splines in spline fit with the inner spline hole, the meshing sleeve is fixed at the outer end of the output shaft of the second drive motor, the meshing sleeve is provided with second external splines, and the combining sleeve is normally meshed with the second external splines through the inner spline hole so as to synchronously rotate along with the output shaft of the second drive motor;
When the electric shifting fork shifts the combination sleeve outwards, the combination sleeve is in spline connection with the combination teeth, so that the output shaft of the first driving motor is combined with the output shaft of the second driving motor, and when the electric shifting fork shifts the combination sleeve inwards, the combination sleeve is separated from the combination teeth, so that the output shaft of the first driving motor is separated from the output shaft of the second driving motor.
9. The dual wheel steering transaxle of any one of claims 1-8 wherein the second drive motor and the first drive motor are symmetrically disposed on both inner and outer sides of the drive motor mount steer.
10. A steering system comprising a steering device, a front steering wheel and two double-wheel steering drive axles according to any one of claims 1-9 arranged opposite to each other, wherein the steering device is adapted to control steering of the front steering wheel.
11. A steering method based on the double wheel steering transaxle of claim 1, comprising:
After receiving the double-wheel steering signal, the clutch device controls the first driving motor and the second driving motor to be disconnected, the first driving motor and the second driving motor respectively control the rotating speeds of the outer wheel and the inner wheel, and the rotating speed difference between the outer wheel and the inner wheel is adjusted to be a preset rotating speed difference to complete double-wheel steering;
After receiving the double-wheel return signal, the first driving motor and the second driving motor respectively control the rotating speeds of the outer wheel and the inner wheel, and the rotating speed difference between the outer wheel and the inner wheel is gradually restored to 0;
after receiving the double-wheel locking signal, the clutch device controls the first driving motor to be combined with the second driving motor.
12. A steering method, based on the steering system of claim 10, comprising:
S1, acquiring a steering wheel angle signal, transmitting the steering wheel angle signal to a whole vehicle controller, and controlling the steering of double wheels by a driving motor controller according to the steering wheel angle signal;
S2, after receiving the double-wheel steering signal, the whole vehicle controller controls the clutch device to act so as to control the first driving motor and the second driving motor to be disconnected, the whole vehicle controller sends a control instruction to the motor controller so as to respectively control the rotating speeds of the first driving motor and the second driving motor, the rotating speed difference between the outer wheel and the inner wheel is adjusted to be a preset rotating speed difference, and the double-wheel steering driving axle is driven to rotate around the vertical axis for a preset angle, so that the double-wheel rotates for a preset rotating angle, and the preset rotating angle of the double-wheel is the same as or opposite to the rotating direction of the front steering wheel;
S3, the whole vehicle controller controls the clutch device to act so as to control the first driving motor to be combined with the second driving motor, and the rotating angles of the two wheels are locked at preset rotating angles.
13. A steering method, based on the steering system of claim 10, comprising:
S1, acquiring a steering wheel angle signal and a parking space characteristic signal, transmitting the steering wheel angle signal and the parking space characteristic signal to a whole vehicle controller, and controlling the steering of double wheels by a driving motor controller according to the steering wheel angle signal and the parking space characteristic signal;
S2, after receiving the double-wheel steering signal, the whole vehicle controller controls the clutch device to act so as to control the first driving motor and the second driving motor to be disconnected, and sends a control instruction to the motor controller so as to respectively control the rotating speeds of the first driving motor and the second driving motor, so that the rotating speed difference between the outer wheel and the inner wheel is adjusted to be a preset rotating speed difference, and the double-wheel steering drive axle is driven to rotate around a vertical axis for a preset angle, and the double wheels are enabled to rotate to a preset rotating angle which is same with the front steering wheel;
s3, the whole vehicle controller controls the clutch device to act so as to control the first driving motor to be combined with the second driving motor, and the rotation angle of the double wheels is locked at a preset rotation angle;
s4, reversing and warehousing.
14. An automobile comprising the dual wheel steering axle of any one of claims 1-9 or the steering system of claim 10.
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| CN202110601962.2A CN115476921B (en) | 2021-05-31 | 2021-05-31 | Double-wheel steering drive axle, steering system, steering method and automobile |
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| CN202110601962.2A CN115476921B (en) | 2021-05-31 | 2021-05-31 | Double-wheel steering drive axle, steering system, steering method and automobile |
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| CN115476921A CN115476921A (en) | 2022-12-16 |
| CN115476921B true CN115476921B (en) | 2024-10-29 |
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| US20230278652A1 (en) * | 2022-03-07 | 2023-09-07 | Volley Automation, Inc. | Vehicles including truck assemblies configured to selectively decouple a wheel of the truck assembly |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102791575A (en) * | 2009-12-17 | 2012-11-21 | 米其林集团总公司 | System for electric motorisation of a wheel |
| CN112654515A (en) * | 2018-08-16 | 2021-04-13 | 艾里逊变速箱公司 | Electric vehicle axle assembly |
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| US20190193784A1 (en) * | 2017-12-21 | 2019-06-27 | Disney Enterprises, Inc. | Non-scrubbing vertical drive unit for a trackless or free roaming vehicle with zero turn radius |
| CN111114308A (en) * | 2018-10-31 | 2020-05-08 | 比亚迪股份有限公司 | Drive axle and vehicle and driving method thereof |
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| CN102791575A (en) * | 2009-12-17 | 2012-11-21 | 米其林集团总公司 | System for electric motorisation of a wheel |
| CN112654515A (en) * | 2018-08-16 | 2021-04-13 | 艾里逊变速箱公司 | Electric vehicle axle assembly |
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