CN205675099U - A kind of independent vehicular modular wheel set driven and turn to - Google Patents

Abstract

The utility model discloses a kind of for four motorized wheels and the electromobile modularization wheel set turned to, including vehicle frame；Steer motor, it is fixed on described vehicle frame；And subframe, it is formed and accommodates space；Described subframe is rotatably supported on described vehicle frame；The output shaft of described steer motor connects described subframe, and described subframe can be around output shaft rotation；Driving motor, it is fixed in described receiving space, is used for driving wheel to rotate；Column, wheel hub is rotatably supported on described column；Described column has through hole, and the output shaft of described driving motor drives wheel through described through hole；Upper suspension swing arm, its two ends are connected to by rubber packing between upper end and the described column in described receiving space；Lower suspension swing arm, its two ends are connected to by rubber packing between lower end and the described column in described receiving space.Wheel set integrated driving of the present utility model, braking, suspension and steering, it is achieved four motorized wheels with turn to.

Description

An automobile modular wheel assembly with independent drive and steering

technical field

The utility model belongs to the field of automobiles, and in particular relates to a four-wheel independent driving and steering electric vehicle driving, braking, suspension and steering modularized wheel assembly structure.

Background technique

The automobile electrification technology represented by electric vehicles has become one of the focuses of automobile technology research and development in the world today. Compared with traditional vehicles, electric vehicles with distributed drive have significant control advantages in terms of stability, active safety and energy saving. An important development direction of a generation of electric vehicles. Four-wheel independent drive and steering electric vehicle is a kind of distributed drive electric vehicle. In addition to the four drive motors driving the car, the four steering motors control the four wheel angles, and the four-wheel drive or braking torque and four-wheel angles are independent. Controllable, compared with the traditional chassis distributed drive electric vehicle system, the response is faster, not only has more controllable degrees of freedom, but also has more precise control, and has become a representative of the new generation of electric vehicles. At present, four-wheel independent drive and independent steering electric vehicles at home and abroad are mainly driven by four-wheel hub motors, and the use of hub motors has the following disadvantages: 1. Since the hub motors are installed inside the wheels, the braking system and suspension system are not easy to arrange. ; 2. The wheel hub motor increases the unsprung mass of the car, which makes the ride comfort and handling of the vehicle worse; 3. The power and torque of the existing wheel hub motor are relatively small, and the vehicle dynamics are poor.

Utility model content

One purpose of this utility model is to provide a wheel assembly driven by the wheel, which integrates the suspension, steering, driving and braking into one structure, so that the weight of the driving motor is carried by the suspension to improve the driving comfort and safety of the car. Maneuverability, and further improve the vehicle dynamics.

In order to achieve these objects and other advantages according to the utility model, a modular wheel assembly for electric vehicles for four-wheel independent drive and steering is provided, including:

frame;

a steering motor fixed to the frame; and

A sub-frame, which forms an accommodation space; the sub-frame is rotatably supported on the frame; the output shaft of the steering motor is connected to the sub-frame, and the sub-frame can rotate around the output shaft; Wherein, the upper end of the accommodating space has a raised bracket extending upward;

a drive motor, which is fixed in the accommodating space and used to drive the wheels to rotate;

a column on which the wheel hub is rotatably supported; the column has a through hole through which the output shaft of the drive motor drives the wheel;

The upper suspension swing arm, the two ends of which are connected between the upper end of the accommodation space and the column through rubber pads;

The lower suspension swing arm, the two ends of which are connected between the lower end of the accommodating space and the upright post through rubber pads.

Preferably, the wheel assembly further includes: a spring damper assembly, the two ends of which are respectively supported between the raised bracket and the upper swing arm of the suspension.

Preferably, it further includes: a spring damper assembly, the two ends of which are respectively supported between the upper end of the accommodating space and the lower swing arm of the suspension.

Preferably, it also includes:

brake disc, which is fixedly connected to the hub;

A brake caliper, fixed to said upright, is able to grip the brake disc when braking.

Preferably, the output shaft of the steering motor is vertically downward; the bottom of the sub-frame is rotatably supported on the frame through a rotating shaft, and the rotating shaft is coaxial with the output shaft of the steering motor.

Preferably, the output shaft of the drive motor is rotatably connected to the inner ball cage, and the inner ball cage is connected to the hub through a half shaft.

Preferably, it also includes an upper flange and a lower flange, and the steering motor is fixed on the vehicle frame through the upper flange and the lower flange.

Preferably, it also includes an auxiliary steering shaft, which is symmetrically installed on the upper and lower sides of the sub-frame with the output shaft of the steering motor, and the auxiliary steering shaft rotates synchronously with the output shaft of the steering motor.

The utility model at least includes the following beneficial effects: the utility model integrates the driving, braking, suspension and steering systems on each wheel to form a modular wheel assembly structure, and the weight of the wheel drive motor is supported on the frame It is carried by the upper bogie, which converts the weight of the drive motor into a sprung mass. The frame plus four modular wheel assemblies constitute the four-wheel independent drive and steering electric vehicle chassis architecture. The utility model reduces the unsprung mass of the automobile, improves the running comfort and maneuverability of the automobile, and improves the dynamic performance of the automobile.

Other advantages, objectives and features of the utility model will partly be embodied through the following description, and partly will be understood by those skilled in the art through the research and practice of the utility model.

Description of drawings

Fig. 1 is a structural principle diagram of an implementation mode of the electric vehicle and wheel assembly of the utility model.

Fig. 2 is a structural diagram of another implementation of the wheel assembly of the present invention.

Fig. 3 is a front view of another implementation of the wheel assembly of the present invention.

Fig. 4 is the complete vehicle structural diagram of the four-wheel independent drive and steering electric vehicle of the utility model.

Fig. 5 is a front wheel steering mode diagram of the utility model four-wheel independent drive and steering electric vehicle.

Fig. 6 is a rear wheel steering mode diagram of the utility model four-wheel independent drive and steering electric vehicle.

Fig. 7 is a four-wheel steering mode diagram of the utility model four-wheel independent drive and steering electric vehicle.

Fig. 8 is a schematic view of the oblique movement of the four-wheel independent drive and steering electric vehicle of the present invention.

Fig. 9 is a horizontal mode diagram of the four-wheel independent drive and steering electric vehicle of the present invention.

Fig. 10 is the in situ steering mode diagram of the four-wheel independent drive and steering electric vehicle of the present invention.

detailed description

The utility model will be described in further detail below in conjunction with the accompanying drawings, so that those skilled in the art can implement it by referring to the description.

It should be understood that terms such as "having", "comprising" and "including" as used herein do not entail the presence or addition of one or more other elements or combinations thereof.

Fig. 1 shows an implementation of a four-wheel independent drive and steering electric vehicle and its modular wheel assembly according to the present invention, including a vehicle frame 100, a wheel assembly 200, and a controller. The vehicle frame 100 is made of a metal alloy, and has a certain ability to resist compression and deformation due to impact. Four wheel assemblies 200 are arranged symmetrically at the front and rear respectively, and the wheel assemblies 200 drive the vehicle frame 100 to move. The wheel assembly 200 includes a subframe 210 , a drive motor 220 , a steering motor 230 , a brake disc 240 , wheels 250 , a shock absorber assembly 260 , an upper suspension swing arm 270 , a lower suspension swing arm 280 and a column 290 .

The sub-frame 210 is a rectangular parallelepiped frame structure, which is installed and supported on the frame 100 by two bearings, and can withstand certain axial and radial loads. The interior of the sub-frame 210 is hollow to form an accommodation space, which is used for The driving motor 220 is placed and fixed, and the driving motor 220 is driven to move synchronously with the sub-frame 210 . The sub-frame 210 is provided with a protruding bracket 211, the protruding bracket 211 is fixedly connected to the output shaft 231 of the steering motor 230, the sub-frame 210 is fixedly connected to the sub-steering shaft 232 of the steering motor 220, the steering motor 230 drives the subframe 210 to rotate around it by 0-180 degrees, thereby driving the drive motor and the subframe 210 to move synchronously.

The driving motor 220 includes an output shaft 221, an inner ball cage 222, and a half shaft 223. The driving motor 220 is connected in the accommodation space of the subframe 210 by bolts. The output shaft 221 of the driving motor passes through the central through hole of the column 290, and passes through The key fits the inner ball cage 222, and the half shaft 223 is suspended between the inner ball cage 222 and the wheel hub 252, so that the wheel 250 can shake up and down at a small angle relative to the drive motor 220. The driving motor 220 drives the wheel 250 to rotate around its center to drive the wheel assembly 200 forward, thereby driving the vehicle frame 100 forward to realize the forward movement of the whole vehicle.

Steering motor 230 includes output shaft 231, auxiliary steering shaft 232, upper flange 233, and lower flange 234. The upper half of steering motor 230 is rigidly connected on the vehicle frame 100 through upper flange 233. Steering motor 230 The lower half of the lower part is fixed on the sub-frame 210 through the lower flange 234, furthermore, the steering motor output shaft 231 is fixed on the raised bracket 211 of the sub-frame 210, and the sub-steering shaft 232 is fixed on the sub-frame 210 Next, the installation position of the sub-steering shaft 232 corresponds to the position of the output shaft 131, and is respectively arranged on the upper and lower sides of the output drive motor output shaft 221. The auxiliary steering shaft 232 moves synchronously with the output shaft 231 of the steering motor. In a word, the steering motor 230 is fixed on the vehicle frame 100 , and its output shaft 231 and sub-steering shaft 232 drive the sub-frame 210 to rotate 0-180 degrees around it to realize the steering of the wheel assembly 200 .

The brake disc 240 includes a caliper 241, and the brake disc 240 is arranged in the accommodation space of the rim 251, parallel to the hub 252 and connected together by four bolts; wherein, the caliper 241 of the brake disc 240 is fixed on the column 290 on. The brake disc 240 acts as a brake on the wheel assembly 200 .

The wheel 250 includes a rim 251 and a hub 252. The tire is sheathed on the outer periphery of the rim 251. The rim 251 and the hub 252 are connected together by four bolts. The hub 252 and the column 290 are installed with interference through two bearings. The shock absorber assembly 260 is connected to the raised bracket 211 of the sub-frame 210 through a ball joint E, and the other end is hinged to the swing arm 280 of the lower suspension through a ball joint C.

The suspension system includes: an upper suspension swing arm 270 , a lower suspension swing arm 280 , and a column 290 , which have the function of integrating the subframe 210 , the wheels 250 and the shock absorber assembly 260 . The upper suspension swing arm 270 is a triangular frame structure, its apex is installed on the column 290 through the ball joint A, and the other two ends are mounted on both sides of the raised bracket 211 through the ball joint J; the lower suspension swing arm 280 is a trapezoidal frame structure , the two ends of the upper base of the trapezoidal frame structure are fixed to the two ends below the sub-frame 210 through the ball joint H, and the lower base of the ladder frame structure is fixed on the column through the ball joint B; the column 290 has a through hole, through which the bearing The hub 252 is attached. The ABHJ four-link transmission and steering mechanism composed of the upper suspension swing arm 270, the lower suspension swing arm 280, and the column 290 has the following functions: the output shaft 221 of the driving motor 220 passes through the through hole of the column 290 to drive the wheels 250 to rotate When the steering motor 230 drives the sub-frame 210 to rotate at a certain angle, the sub-frame 210 drives the wheels 250 to deflect through the ABHJ four-link transmission steering mechanism, thereby realizing the steering of the vehicle frame 100.

2 and 3 show another form of implementation of the wheel assembly 300, the wheel assembly 300 includes a subframe 310, a drive motor 320, a steering motor 330, a brake disc, a wheel 350, and a shock absorber assembly 360 , upper suspension swing arm 370, lower suspension swing arm 380 and column 390. The accommodating space in the sub-frame 310 is used to place and fix the drive motor 320 , and drive the drive motor 320 to move synchronously with it, that is, to steer synchronously. The output shaft of the driving motor 320 passes through the sub-frame 310 , passes through the through hole of the column 390 , and then is rotatably connected to the hub of the wheel 350 . The main body of steering motor 330 is fixed on the vehicle frame 100, and its output shaft and sub-steering shaft are fixedly connected with the upper and lower raised brackets of sub-frame 310, which drives sub-frame 310 to rotate 0-180 degrees. The brake disc is installed in the wheel 350 and acts as a brake on the wheel assembly 300 . The wheel 350 includes a tire, a rim and a hub. The hub is connected to the column 390 through a bearing. After passing through the column 390, the output shaft of the motor rotates to connect the hub of the wheel 350 to rotate the wheel 350 and drive the wheel 350 to rotate to drive the wheel assembly 300 forward. The upper end of the shock absorber assembly 360 is hinged with the raised bracket at the upper end of the sub-frame 310 through a ball joint, and its lower end is hinged with the lower suspension swing arm 380 through a ball joint. See Figures 2 and 3 for details. The two shock absorbers work together to reduce The vibration of the wheel assembly 300. The two ends of the upper suspension swing arm 370 are respectively hinged on the subframe 310 and the column 390, and the two ends of the lower suspension swing arm 380 are respectively hinged below the subframe 310 and the column 390. The upper suspension swing arm 370, The lower suspension swing arm 380 and the upright 390 are hinged to form a link steering mechanism. When the steering motor 330 drives the subframe 310 to rotate, the subframe 310 drives the wheels 350 to rotate through the four-bar linkage to realize the steering of the vehicle frame 100. Since the sub-frame 310 does not bounce and the upper suspension swing arm 370 and the lower suspension swing arm 380 bounce, the impact load from the road surface can only be absorbed by compressing the spring through the shock absorber assembly 360 at this time.

Fig. 4-10 shows the electric vehicle equipped with the wheel assembly 200 or 300 according to the present invention, on which four wheel assemblies are symmetrically arranged to realize independent steering and driving of the four wheels. When steering, the angular displacement sensor collects the angle information of the steering wheel. After being processed by the controller, the steering motor turns to a certain angle to drive the bogie, drive motor, transmission system, suspension system, braking system, and wheels to rotate together. The four steering motors rotate simultaneously to realize the independent steering of the four wheels. It has a variety of steering modes, including front-wheel steering mode, rear-wheel steering mode, four-wheel steering mode, oblique travel mode, horizontal travel mode and spot steering mode.

As shown in Figure 5, when the electric vehicle is turning, the angular displacement sensor collects the steering wheel angle information. After the controller processes it, the controller sends a steering signal to the two front wheels to control the rear wheels from rotating, and the front wheel steering motor detects the direction of the steering wheel. Steering signal, according to the steering signal, the steering motor drives the front wheels to rotate respectively. Furthermore, the steering motor drives the two front wheels to rotate at different angles, so that the front wheels and rear wheels conform to Ackermann's theorem, and the two front wheels drive the electric vehicle to rotate around the center of the circle to achieve Front wheel steering mode.

As shown in Figure 6, when the electric vehicle is turning, the angular displacement sensor collects the steering wheel angle information. After the controller processes it, the controller sends a steering signal to the two rear wheels to control the front wheels not to rotate, and the rear wheel steering motor detects the direction of the steering wheel. The steering signal and the steering motor respectively drive the rear wheels to rotate. Furthermore, the steering motor drives the two rear wheels to rotate at different angles, so that the front and rear wheels conform to Ackermann's theorem, and the two rear wheels drive the electric vehicle to rotate around the center of the circle to realize rear wheel steering. model.

As shown in Figure 7, when the electric vehicle is turning, the angular displacement sensor collects the steering wheel angle information. After processing by the controller, the controller sends steering signals to the front and rear wheels respectively, so that the deflection directions of the front and rear wheels are opposite. The front wheel steering motor detects the steering signal of the direction, and its steering motor drives the front two wheels to rotate at different angles; the rear wheel steering motor detects the direction of the steering signal, and its steering motor drives the rear two wheels to rotate at different angles. The rear wheels conform to Ackerman's theorem, and the front and rear wheels drive the electric vehicle to rotate around the center of the circle to realize the four-wheel steering mode.

As shown in Figure 8, when the electric vehicle is running obliquely, the angular displacement sensor collects the steering wheel angle information. After processing by the controller, the controller sends the same steering signal to the front and rear wheels respectively, so that the deflection direction of the front and rear wheels The same as the deflection angle, the steering motor of the front wheel detects the steering signal of the direction, and its steering motor drives the two front wheels to rotate at the same angle and direction; the steering motor of the rear wheel detects the steering signal of the direction, and its steering motor drives the two rear wheels to rotate at the same angle and direction , to implement the oblique mode.

As shown in Figure 9, when the electric vehicle is running horizontally, the angular displacement sensor collects the steering wheel angle information. After the controller processes it, the controller sends the same steering signal to the front and rear wheels respectively, so that the deflection direction of the front wheel and the rear wheel and The deflection angle is the same, the steering motor of the front wheel detects the steering signal of the direction, and its steering motor drives the front two wheels to rotate 90 degrees;

As shown in Figure 10, when the electric vehicle is turning in situ, the angular displacement sensor collects the steering wheel angle information. After processing by the controller, the controller sends different steering signals to the four wheels respectively, so that the left front wheel and the right rear wheel The direction of deflection is the same, the direction of deflection of the right front wheel and the left rear wheel is the same. The specific actions are: the steering signals of the two front wheel steering motors detect the direction, and the steering motors drive the two front wheels to rotate at different angles; the steering signals of the two rear wheel steering motors detect the direction, and drive the two rear wheels to rotate at different angles. , so that the front and rear wheels conform to Ackerman's theorem, and the front and rear wheels drive the electric vehicle to rotate around the center of the circle to realize the in-situ steering mode.

Although the embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and implementation. It can be applied to various fields suitable for the utility model. Additional modifications can readily be made by those skilled in the art. Therefore, the invention should not be limited to the specific details and examples shown and described herein, without departing from the general concept defined by the claims and their equivalents.

Claims (8)

1. the independent vehicular modular wheel set driven and turn to, it is characterised in that including:

Vehicle frame；

Steer motor, it is fixed on described vehicle frame；And

Subframe, it is formed and accommodates space；Described subframe is rotatably supported on described vehicle frame；Described steer motor defeated Shaft connects described subframe, and described subframe can be around output shaft rotation；Wherein, the upper end in described receiving space has upwards The protruding support extended；

Driving motor, it is fixed in described receiving space, is used for driving wheel to rotate；

Column, wheel hub is rotatably supported on described column；Described column has through hole, and the output shaft of described driving motor is worn Cross described through hole and drive wheel；

Upper suspension swing arm, its two ends are connected to by rubber packing between upper end and the described column in described receiving space；

Lower suspension swing arm, its two ends are connected to by rubber packing between lower end and the described column in described receiving space.

2. the independent vehicular modular wheel set driven and turn to as claimed in claim 1, it is characterised in that described wheel Assembly also includes: spring cushion assembly, and its two ends are respectively supported between described protruding support and described suspension top link.

3. the independent vehicular modular wheel set driven and turn to as claimed in claim 1, it is characterised in that also include: Spring cushion assembly, its two ends are respectively supported between described upper end, receiving space and described suspension lower swing arm.

4. the most independent vehicular modular wheel set driven and turn to, it is characterised in that also wrap Include:

Brake disc, its fixing connection wheel hub；

Caliper, it is fixed on described column, it is possible to the clamping brake disc when braking.

5. the as claimed in claim 4 independent vehicular modular wheel set driven and turn to, it is characterised in that described in turn to The output shaft of motor is straight down；The bottom of described subframe is rotatably supported on described vehicle frame by rotating shaft, described rotating shaft Coaxial with the output shaft of described steer motor.

6. the as claimed in claim 5 independent vehicular modular wheel set driven and turn to, it is characterised in that described in drive The output shaft of galvanic electricity machine is rotatably connected internal spherical cage, and internal spherical cage connects wheel hub by semiaxis.

7. the independent vehicular modular wheel set driven and turn to as claimed in claim 6, it is characterised in that also include Ring flange and lower flange, described steer motor is fixed on vehicle frame by upper flange plate and lower flange.

8. the independent vehicular modular wheel set driven and turn to as claimed in claim 7, it is characterised in that also include pair Steering spindle, its output shaft with described steer motor is symmetrically mounted on the upper and lower both sides of subframe, described secondary steering spindle with turn to electricity Machine output shaft synchronous rotates.