CN108032900B - Drive and steering integrated device of steer-by-wire automobile and vehicle - Google Patents
Drive and steering integrated device of steer-by-wire automobile and vehicle Download PDFInfo
- Publication number
- CN108032900B CN108032900B CN201810014346.5A CN201810014346A CN108032900B CN 108032900 B CN108032900 B CN 108032900B CN 201810014346 A CN201810014346 A CN 201810014346A CN 108032900 B CN108032900 B CN 108032900B
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- 239000007787 solid Substances 0.000 claims abstract description 50
- 239000000725 suspension Substances 0.000 claims description 18
- 238000004804 winding Methods 0.000 claims description 9
- 230000007246 mechanism Effects 0.000 description 23
- 230000009467 reduction Effects 0.000 description 17
- 238000005516 engineering process Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000004044 response 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
- B62D5/00—Power-assisted or power-driven steering
- B62D5/001—Mechanical components or aspects of steer-by-wire systems, not otherwise provided for in this maingroup
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G3/00—Resilient suspensions for a single wheel
- B60G3/18—Resilient suspensions for a single wheel with two or more pivoted arms, e.g. parallelogram
- B60G3/20—Resilient suspensions for a single wheel with two or more pivoted arms, e.g. parallelogram all arms being rigid
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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
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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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Power Steering Mechanism (AREA)
- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
Abstract
The utility model discloses a drive and steering integrated device of a steer-by-wire automobile, which comprises: the hub motor shell is respectively connected with the upper connecting arm and the lower connecting arm; the upper end of the steering motor shell is fixedly connected with the upper connecting arm, and the lower end of the steering motor shell is fixedly connected with the lower connecting arm; the entity main pin shaft rotatably penetrates through the upper end and the lower end of the steering motor shell, and the steering motor shell is supported on the entity main pin shaft; the stator is arranged in the steering motor shell and fixedly sleeved on the entity main pin shaft; the first-stage planetary gear row comprises a first-stage sun gear, a first-stage planet carrier and a fixed first-stage annular gear; the second-stage planetary gear row comprises a second-stage sun gear, a second-stage planet carrier and a second-stage annular gear; the tail ends of the upper cross arm and the lower cross arm are provided with rotating shafts, and two ends of the solid main pin shaft are rotatably connected to the rotating shafts.
Description
Technical Field
The utility model relates to the field of steering-by-wire structures, in particular to a driving and steering integrated device of a steering-by-wire automobile and a vehicle.
Background
The steering system of the automobile is a key assembly for determining the active safety of the automobile, the traditional steering system of the automobile is a mechanical system, and the steering motion of the automobile is realized by driving a steering wheel by a driver and transmitting the steering wheel to steering wheels through a steering gear and a series of mechanical rods. With the continuous development of new energy fields in the automobile industry, the electrification degree of new generation automobiles represented by electric automobiles is getting more and more attention. The automobile steering-by-wire system cancels the mechanical connection between the steering wheel and the steering wheel, realizes steering completely by electric energy, gets rid of various limitations of the traditional steering system, not only can freely design the force transmission characteristic of automobile steering, but also can design the angle transmission characteristic of automobile steering, and brings infinite development space for the design of automobile steering characteristics.
In the automobile steer-by-wire system, mechanical connection such as steering columns is eliminated, the damage of the steering columns to drivers in collision accidents can be avoided, and the automobile safety performance is greatly improved. The system has the advantages that the steering response of the automobile is quick, and the steering control is more flexible; in the application of the utility model with the patent number of 201420185128.5, steering is performed by adopting a structure of combining a steering motor and a screw rod, and the steering-by-wire mechanism comprises two steering pull rods, a steering power unit and two groups of transmission units; the steering tie rod is horizontally arranged, one end, close to a wheel, of the steering tie rod is hinged with a steering knuckle of the suspension wheel assembly, when the plane where the wheel is located is perpendicular to the steering tie rod, the two steering tie rods are symmetrical relative to the vertical radial direction of the wheel, steering of the wheel is completed through the arrangement, but the application has the problems that the mechanical structure is complex, the occupied space is large, meanwhile, the steering mechanism is poor in stability due to the adoption of the structure of the tie rod and the sliding block, and the like.
However, the research of the steering-by-wire technology, especially the full-wheel steering-by-wire technology, is still in the theoretical research stage at present, and the research pace of the steering-by-wire technology is also accelerating along with the development of intelligent automobiles and pure electric automobiles. In the prior art, a steer-by-wire technology is required to be arranged on the whole vehicle, wherein the problem that a steering motor is not easy to install and the steering motor outputs insufficient steering torque exists.
Disclosure of Invention
The utility model designs and develops a drive and steering integrated device of a steer-by-wire automobile, and one of the purposes of the utility model is to solve the problem of inconvenient arrangement of a steering motor of a vehicle by reasonably arranging the steering motor in a limited space between a vehicle suspension and an in-wheel motor.
The second purpose of the utility model is to integrate the two-stage planetary reduction mechanism into the steering motor, reasonably utilize the interval between the suspension cross arms and effectively solve the problem of insufficient output steering torque of the integrated steering motor.
The technical scheme provided by the utility model is as follows:
a drive-by-wire steering vehicle drive and steering integrated apparatus comprising:
the hub motor shell is respectively connected with the upper connecting arm and the lower connecting arm;
the upper end of the steering motor shell is fixedly connected with the upper connecting arm, and the lower end of the steering motor shell is fixedly connected with the lower connecting arm;
a solid main pin rotatably passing through upper and lower ends of the steering motor housing, the steering motor housing being supported on the solid main pin;
the stator is arranged in the steering motor shell and fixedly sleeved on the entity main pin shaft;
the first-stage planetary gear row comprises a first-stage sun gear, a first-stage planet carrier and a fixed first-stage annular gear;
the primary sun gear is sleeved and rotatably supported on the entity main pin shaft and used for outputting power to the primary planet gear;
a rotor having a housing cavity housing the stator; the rotor and the first-stage sun gear are connected into a whole;
the primary planet wheel drives the primary planet carrier to rotate so as to output power;
the second-stage planetary gear row comprises a second-stage sun gear, a second-stage planet carrier and a second-stage annular gear;
the secondary sun gear is rotatable on the entity main pin shaft and can rotate together after being fixedly connected with the primary planet carrier into a whole;
the secondary sun gear drives the secondary planet gears to rotate, so that the secondary annular gear is driven to rotate; the secondary annular gear is fixedly connected with the steering motor shell and drives the steering motor shell to rotate around the entity main pin shaft;
the upper cross arm and the lower cross arm are provided with rotating shafts at the tail ends, and the two ends of the solid main pin shaft are rotatably connected to the rotating shafts.
Preferably, the upper end of the secondary planet shaft is locked and clamped on the secondary planet carrier through a nut; and
the secondary planet carrier is fixed on the solid main pin shaft through a spline and is clamped through an elastic retainer ring for the shaft.
Preferably, the primary annular gear is fixedly connected with the lower end of the secondary planet carrier into a whole.
Preferably, the lower end of the stator axially locks the steering motor winding through a nut and a stop washer, and the upper end of the stator is fixed at the lower end of the primary sun gear through a stop block.
Preferably, the upper cross arm and the lower cross arm are provided with open cavities at the rotating shaft, and the solid main pin shafts are installed in the open cavities in a matching way.
Preferably, the rotating shafts are perpendicular to the axis direction of the main pin shaft of the entity and are parallel to the upper cross arm and the lower cross arm.
Preferably, the two ends of the rotating shaft are fixedly locked through nuts.
Preferably, the motor casing of the hub motor is connected with the upper connecting arm and the lower connecting arm through bolts; and
the upper end motor casing of steering motor pass through the bolt with go up the linking arm links to each other, the lower extreme motor casing of steering motor pass through the bolt with the linking arm links to each other down.
A vehicle is steering driven using the integrated device.
Compared with the prior art, the utility model has the following beneficial effects:
1. the utility model provides a drive and steering integrated module of a steer-by-wire automobile, which can reasonably arrange a steering motor in a limited space between an automobile suspension and a wheel hub motor, realize the interconnection between the suspension and the steering motor and between the steering motor and the wheel hub motor, and solve the problem of inconvenient arrangement of the steering motor of the steer-by-wire automobile. The steering motor outputs steering torque to be transmitted to the hub motor, so that the automobile is steered according to the intention of a driver, and the acting force of the road surface on the wheels can be transmitted to the steering motor through the hub motor and then transmitted to an automobile suspension, so that the steering stability and the running smoothness of the automobile are ensured;
2. the utility model solves the problem of insufficient output steering torque of the steer-by-wire motor by arranging the two-stage planetary gear reduction mechanism inside the steering motor. The gap between the motor shell and the motor shaft of the steering motor is utilized, the interval between the upper cross arm and the lower cross arm of the double cross arm suspension in the design is utilized, a two-stage planetary gear reduction mechanism is reasonably arranged, the torque output by the rotor of the steering motor is increased through two-stage reduction and then is output through the motor shell of the steering motor, so that the power requirement on the steering motor can be reduced, and enough steering torque can be obtained at the steering wheel end.
Drawings
Fig. 1a is a front view showing an internal structure of a drive-by-wire steering integrated module of a steering-by-wire automobile according to the present utility model.
Fig. 1b is a top view of a drive and steering integrated module of a steer-by-wire automobile according to the present utility model.
Fig. 2 is a front view of the internal structure of the wheel hub motor, the steering motor and the suspension connection frame with the solid kingpin axis in the drive and steering integrated module of the steer-by-wire automobile of the present utility model.
Fig. 3 is a front view of a two-stage planetary gear reduction mechanism inside a steering motor in a drive-by-wire steering integrated module of the present utility model.
Fig. 4 is a front view of a physical king pin in a drive-by-wire steering vehicle drive and steering integrated module according to the present utility model.
Fig. 5a is a front view of a primary ring gear of a two-stage planetary gear reduction mechanism in a drive-by-wire steering vehicle of the present utility model.
Fig. 5b is a cross-sectional view of a primary ring gear of a two-stage planetary gear reduction mechanism in a drive-by-wire steering vehicle of the present utility model.
Fig. 6a is a front view of a two-stage sun gear of a two-stage planetary gear reduction mechanism in a drive-by-wire steering vehicle of the present utility model.
Fig. 6b is a cross-sectional view of a two-stage sun gear of a two-stage planetary gear reduction mechanism in a drive-by-wire steering vehicle of the present utility model.
Fig. 7a is a front view of a support sleeve of a two-stage planetary gear reduction mechanism in a drive-by-wire steering vehicle integrated module according to the present utility model.
Fig. 7b is a cross-sectional view of the support sleeve of the two-stage planetary gear reduction mechanism in the drive-by-wire steering vehicle of the present utility model.
Fig. 8a is a front view of a secondary ring gear of a two-stage planetary gear reduction mechanism in a drive-by-wire steering vehicle of the present utility model.
Fig. 8b is a cross-sectional view of a secondary ring gear of a two-stage planetary gear reduction mechanism in a drive-by-wire steering vehicle of the present utility model.
Fig. 9a is a front view of the upper connecting arm in the drive and steering integrated module of the steer-by-wire automobile of the present utility model.
Fig. 9b is a left side view of the upper connecting arm in the drive-and-steer integrated module of the steer-by-wire automobile of the present utility model.
Fig. 9c is a top view of the upper connecting arm in the drive and steering integrated module of the steer-by-wire automobile of the present utility model.
Detailed Description
The present utility model is described in further detail below with reference to the drawings to enable those skilled in the art to practice the utility model by referring to the description.
As shown in figure 1, in order to realize the functions, the utility model provides a driving and steering integrated module of a steer-by-wire automobile, and the steering motor is connected with a two-stage planetary gear reduction mechanism to increase the smaller moment output by the motor according to the speed ratio, and then the smaller moment is output through a motor shell of the steering motor and is transmitted to a hub motor connected with the motor to realize the steering of wheels. And the entity main pin shaft plays a role of a motor shaft of the steering motor, namely the steering motor is supported on the entity main pin shaft, so that the problem that the steering motor is not easy to install can be easily solved.
The steering motor comprises a solid main pin shaft 43, a steering motor upper motor casing 33 and a steering motor lower motor casing 19, wherein the steering motor upper motor casing 33 and the steering motor lower motor casing 19 are connected together through bolts 45, the steering motor upper motor casing 45 is supported on the solid main pin shaft 43 through a tapered roller bearing 40, and the steering motor lower motor casing 19 is supported on the solid main pin shaft 43 through a tapered roller bearing 14. The hub motor provided by the utility model is provided with a rotor and a stator motor shell; the wheel hub motor rotor is connected with the wheel, the wheel hub motor stator motor shell is connected with the upper connecting arm 46 and the lower connecting arm 16 through bolts 47 and bolts 4 respectively, the steering motor upper end motor shell 33 is connected with the upper connecting arm 46 through bolts 44, and the steering motor lower end motor shell 19 is connected with the lower connecting arm 16 through bolts 11. In this way, the in-wheel motor and the steering motor are connected together by the upper connecting arm 46 and the lower connecting arm 16.
The steering motor upper end motor housing 33 and the steering motor lower end motor housing 19 serve as the steering motor power output ends.
A double wishbone suspension with solid king pin shaft comprising upper wishbone 41, lower wishbone 20, upper wishbone 42, lower wishbone 13 and solid king pin shaft 43. Wherein, the upper end of the main pin shaft 43 is assembled in the open cavity of the upper cross arm 41, and an upper cross pin 42 is assembled in the direction perpendicular to the plane where the axis of the main pin shaft 43 and the center line of the upper cross arm 41 are located, and is clamped in an inner hole formed by the upper end of the main pin shaft 43 and the upper cross arm 41; the lower end of the solid main pin shaft 43 is assembled in the opening concave cavity of the lower cross arm 20, the lower cross pin 13 is assembled in the direction perpendicular to the plane where the axis of the solid main pin shaft 43 and the center line of the lower cross arm 20 are located, and the lower cross pin 13 is clamped in an inner hole formed by the lower end of the solid main pin shaft 43 and the lower cross arm 20. Thus, the entity main pin shaft 43 is clamped on the upper cross arm and the lower cross arm of the double-cross arm suspension through the upper cross pin and the lower cross pin, the entity main pin shaft 43 cannot rotate around the axis of the entity main pin shaft 43, the upper cross arm 41 and the entity main pin shaft 43 can only rotate around the axis of the upper cross pin 42 to a certain extent, and the lower cross arm 20 and the entity main pin shaft 43 can only rotate around the axis of the lower cross pin 13 to a certain extent. In this way, the double wishbone suspension and steering motor are connected together by a solid king pin shaft 43.
In general terms, the steering angle output of the steering motor is transmitted to the hub motor through the upper connecting arm 46 and the lower connecting arm 16 to drive the whole wheel to steer, the road surface acting force on the wheel is transmitted to the hub motor through the rim 49, then transmitted to the steering motor through the upper cross arm 46 and the lower cross arm 16, and the road surface acting force is then transmitted to the double cross arm suspension through the entity main pin shaft 43.
In another embodiment, the two-stage planetary gear reduction mechanism includes a one-stage planetary gear train and a two-stage planetary gear train.
In another embodiment, the primary planetary gear train includes a primary sun gear 21, a primary ring gear 5, a primary planet carrier 28, at least one primary planet axle 8, and at least one primary planet 12. The primary sun gear 21 is supported on the solid main pin shaft 43 through the needle roller assembly 23 and the needle roller assembly 25, and the primary planet gear 12 is supported on the primary planet shaft 8 through the needle roller assembly 9.
In another embodiment, the secondary planetary gear train includes a secondary sun gear 28, a secondary ring gear 33, a secondary upper end planet carrier 37, a secondary lower end planet carrier 5, a support sleeve 35, at least one secondary planet 32, and at least one secondary planet shaft 29. The secondary sun gear 28 and the primary planet carrier are integrated, the secondary sun gear 28 extends downwards to form a section and plays a role of the primary planet carrier, the secondary sun gear 28 is used for sleeving and supporting the primary planet shaft 8 and the primary planet wheel 12, the secondary sun gear is supported on the solid main pin shaft 43 through a tapered roller bearing 27, the other end of the secondary sun gear 28 is pressed on the supporting sleeve 35, then the supporting sleeve is supported on the solid main pin shaft 43 through a tapered roller bearing 36, the secondary annular gear 33 and the motor casing 33 at the upper end of the steering motor are integrated to form a unique power output end of the whole secondary planet gear speed reducing mechanism, the primary annular gear 5 and the secondary lower end planet carrier are integrated, the primary annular gear 5 extends upwards to form a section and is sleeved at the lower end of the secondary planet shaft 29 and plays a role of the secondary lower end planet carrier, one end of the whole is meshed with the primary planet wheel 12, the other end of the whole is sleeved on the secondary planet shaft 29, one end of the secondary upper end planet carrier 37 is fixed on the solid main pin shaft 43 through a spline, and the other end of the whole upper end of the secondary planet carrier 37 is sleeved on the secondary planet shaft 29. The primary annular gear 5, the secondary lower end planet carrier 5, the secondary planet shafts 29 and the secondary upper end planet carrier 37 are integrally fixed on the solid main pin shaft 43, and the rotating speed is zero.
In another embodiment, the steering motor further includes: steering motor windings 18 and steering motor rotor; the steering motor rotor and the primary sun gear 21 are made into a whole, the lower end of the primary sun gear 21 extends downwards to form an embedded concave cavity which also plays a role of the steering motor rotor, and the steering motor winding 18 is arranged between the entity main pin shaft 43 and the concave cavity formed by the steering motor rotor and is fixed on the entity main pin shaft 43.
Examples
As shown in fig. 1a, one end of the upper connecting arm 46 is connected with the left end motor casing 48 of the wheel hub motor through a bolt 47, and the other end is connected with the upper end motor casing 33 of the steering motor through a bolt 44; one end of the lower connecting arm 16 is connected with the left end motor shell 48 of the hub motor through a bolt 4, and the other end is connected with the lower end motor shell 19 of the steering motor through a bolt 11. The upper end of the solid main pin shaft 43 is clamped by the upper transverse pin 42 in a direction perpendicular to the intersecting plane of the axis of the solid main pin shaft 43 and the central line of the upper cross arm 41, as shown in the top view of the integrated module in fig. 1b, the upper transverse pin 42 traverses the common inner hole formed by the upper cross arm 41 and the solid main pin shaft 43, and the two ends are locked by nuts, so that the upper transverse pin 42 cannot axially float out along the inner hole. Similarly, the lower end of the entity main pin shaft 43 is penetrated and clamped by the lower transverse pin 13 along the direction perpendicular to the intersecting plane of the axis of the entity main pin shaft 43 and the central line of the lower cross arm 20, the lower transverse pin 13 transversely penetrates through a common inner hole formed by the lower cross arm 20 and the entity main pin shaft 43, and the two ends of the common inner hole are locked through nuts, so that the lower transverse pin 13 cannot axially float out along the inner hole. The steering motor upper motor casing 33 is supported on the solid king pin shaft 43 through the tapered roller bearing 40 and is connected with the steering motor lower motor casing 19 through bolts 45, and the steering motor lower motor casing 19 is supported on the solid king pin shaft 43 through the tapered roller bearing 14. The whole two-stage planetary gear speed reducing mechanism is sleeved on the solid main pin shaft 43, and the one-stage sun gear 21 is used as a power input end of the whole two-stage planetary gear speed reducing mechanism and also used as a steering motor rotor 21 and sleeved outside the steering motor winding 18. The steering motor winding 18 is fixed on the solid main pin shaft 43, the lower end of the steering motor winding is axially locked by a round nut 15 and a stop washer 17 for the round nut, the upper end of the steering motor winding is propped against the lower end of the primary sun wheel 21 by an L-shaped stop block 22, the lower end of the primary sun wheel 21 downwards extends to form an embedded concave cavity and plays a role of a steering motor rotor, the upper end of the primary sun wheel 21 is propped against the inner ring of a tapered roller bearing 27 by an L-shaped stop block 26, the outer ring of the tapered roller bearing 27 is propped against the lower end of a secondary sun wheel 28, the secondary sun wheel 28 downwards extends to form a section and plays a role of a primary planet carrier, the upper end of the secondary sun wheel 28 is propped against the outer ring of a tapered roller bearing 36, the inner ring of the tapered roller bearing 36 is propped against the shaft shoulder of the solid main pin shaft 43, meanwhile, the lower end of the secondary sun wheel 28 is sleeved on the primary planet shaft 8 by the nut 6, the primary planet wheel 12 is axially limited by the L-shaped stop block 7 and the L-shaped stop block 10, and the primary planet shaft 28 can only rotate around the solid main pin shaft 43, and the primary planet shaft 28 can rotate integrally around the solid main pin shaft 28 and the primary sun shaft 28. The primary inner gear ring 5 extends upwards to form a section, is sleeved at the lower end of the secondary planet shaft 29 and plays the role of a secondary lower end planet carrier, one end of the primary inner gear ring 5 is meshed with the primary planet wheel 12, the other end of the primary inner gear ring is sleeved on the secondary planet shaft 29, then the lower end of the secondary planet wheel 32 is propped against the lower end of the secondary planet wheel 32 through the L-shaped stop block 30, the upper end of the secondary planet wheel 32 is propped against the shaft shoulder of the secondary planet shaft 29 through the L-shaped stop block 34, meanwhile, the upper end of the secondary planet shaft 29 is blocked on the secondary upper end planet carrier 37 and is locked through a nut 38, the small end of the secondary upper end planet carrier 37 is also fixed on the solid main pin shaft 43 through a spline and is blocked through an elastic retainer ring 39 for limiting axial movement of the shaft, namely, the primary inner gear ring 5, the secondary lower end planet carrier 5, the secondary planet wheel shaft 29, the secondary planet wheel 32 and the secondary upper end planet carrier 37 are integrally fixed on the solid main pin shaft 43, and the degree of freedom of the secondary planet shaft is zero. The secondary ring gear 33 is integrally formed with the motor housing 33 at the upper end of the steering motor, so that the power transmitted from the steering motor rotor 21 is transmitted to the motor housing of the steering motor through the secondary ring gear 33 after being changed in speed ratio by the two-stage planetary gear reduction mechanism, then is transmitted to the hub motor through the upper connecting arm 46 and the lower connecting arm 16, and finally is transmitted to the rim 49 to steer the wheels.
As shown in fig. 2, the wheel hub motor left end motor housing 48 is connected with the upper connecting arm 46 by the bolt 47, is connected with the lower connecting arm 16 by the bolt 4, and the other end of the upper connecting arm 46 is connected with the steering motor upper end motor housing 33 by the bolt 44, and the other end of the lower connecting arm 16 is connected with the steering motor lower end motor housing 19 by the bolt 11. The upper transverse pin 42 passes through and is clamped in a common inner hole formed by the upper transverse arm 41 and the entity main pin 43 along the direction perpendicular to the intersecting plane of the axis of the entity main pin 43 and the central line of the upper transverse arm 41, and two ends of the upper transverse pin 42 are locked through nuts, so that the upper transverse pin 42 cannot axially float out along the inner hole, and therefore, the upper transverse arm 41 and the entity main pin 43 can only rotate around the axis of the upper transverse pin 42. Similarly, the lower cross pin 13 passes through and is clamped in a common inner hole formed by the lower cross arm 20 and the entity main pin 43 along the direction perpendicular to the intersecting plane of the axis of the entity main pin 43 and the central line of the lower cross arm 20, and two ends of the lower cross pin 13 are locked through nuts, so that the lower cross pin 13 cannot axially float out along the inner hole, and therefore, the lower cross arm 20 and the entity main pin 43 can only rotate around the axis of the lower cross pin 13. The steering motor upper motor casing 33 is connected with the steering motor lower motor casing 19 through bolts 45, the steering motor upper motor casing 33 is supported on the solid main pin shaft 43 through the tapered roller bearing 40, and the steering motor lower motor casing 19 is supported on the solid main pin shaft 43 through the tapered roller bearing 14.
As shown in fig. 3, the primary sun gear 21 is supported on the solid main pin shaft 43 through the needle roller assemblies 23 and 25, the lower end of the primary sun gear 21 is supported on the solid main pin shaft 43 through an L-shaped stop block 22, the upper end of the primary sun gear is supported on the inner ring of the tapered roller bearing 27 through an L-shaped stop block 26, the outer ring of the tapered roller bearing 27 is supported on the lower end of the secondary sun gear 28, the upper end of the secondary sun gear 28 is pressed together with the supporting sleeve 35, the supporting sleeve 35 is supported on the outer ring of the tapered roller bearing 36, meanwhile, the inner ring of the tapered roller bearing 36 is supported on the shaft shoulder of the solid main pin shaft 43, and the secondary sun gear 28 is directly sleeved on the solid main pin shaft 43 in a hollow mode and is supported by the tapered roller bearings 27 and 36. The lower end of the secondary sun gear 28 is sleeved on the primary planet shaft 8 and is locked by the nut 6, the primary planet gear 12 is supported on the primary planet shaft 8 through the needle roller assembly 9, and the two ends of the primary planet gear are locked by the L-shaped stop block 7 and the L-shaped stop block 10. One end of the primary inner gear ring 5 is meshed with the primary planet gear 12, the other end of the primary inner gear ring is sleeved on the secondary planet shaft 29, then the lower end of the secondary planet gear 32 is propped against the lower end of the secondary planet gear 32 through the L-shaped stop block 30, the upper end of the secondary planet gear 32 is propped against the shaft shoulder of the secondary planet shaft 29 through the L-shaped stop block 34, and the secondary planet gear 32 is integrally supported on the secondary planet shaft 29 through the needle roller assembly 31. The upper end of the secondary planet shaft 29 is clamped on the secondary upper end planet carrier 37 and is locked by a nut 38, and the small end of the secondary upper end planet carrier 37 is also fixed on the solid main pin shaft 43 by a spline and is clamped by a circlip 39 for limiting the axial movement of the shaft. The secondary ring gear 33 is integrally formed with the steering motor upper motor housing 33.
As shown in fig. 4, the upper end hollow a is used for installing an upper transverse pin 42, so that the upper transverse arm 41 of the suspension is connected with a solid main pin shaft 43, the middle spline section b is connected with the secondary upper end planet carrier 37 to limit the rotation of the secondary upper end planet carrier, and the lower end inner hole c is used for installing a lower transverse pin 13, so that the lower transverse arm 20 of the suspension is connected with the solid main pin shaft 43.
As shown in fig. 5a and 5b, the gear teeth a are meshed with the gear teeth of the primary planet gears 12, and the through holes b are sleeved on the secondary planet shafts 29.
As shown in fig. 6a and 6b, the concave cavity a is in interference fit press fit with the supporting sleeve 35, the gear tooth b is meshed with the secondary planet gear 32, the concave cavity c is in interference fit with the outer ring of the tapered roller bearing 27, and the through hole d is sleeved on the primary planet shaft 8.
As shown in fig. 7a and 7b, the concave cavity a is in interference fit with the outer ring of the tapered roller bearing 36, and the circular wall surface b is in interference fit press-fit with the secondary sun gear 28.
As shown in fig. 8a and 8b, the threaded hole a is used for bolting the upper motor casing and the lower motor casing of the steering motor, the threaded hole b is used for bolting the upper motor casing 33 and the upper connecting arm 46 of the steering motor, the concave cavity c is in interference fit with the outer ring of the tapered roller bearing 40, and the gear teeth d are meshed with the gear teeth of the secondary planet gear 32.
As shown in fig. 9a, 9b and 9c, the through hole a is used for bolting the upper connecting arm 46 to the steering motor upper end motor casing 33, and the through hole b is used for bolting the upper connecting arm 46 to the hub motor left end motor casing 48.
The working mode of the utility model is described in detail below with reference to fig. 1a and 1 b:
referring to fig. 1a and 1b, the driving and steering integrated module of the steer-by-wire automobile is a module integrating a double-wishbone suspension with a solid main pin shaft, a steering motor and a hub motor. The upper cross arm 41 of the suspension is connected with the entity main pin shaft 43 through an upper transverse pin 42, the lower cross arm 20 is connected with the entity main pin shaft 43 through a lower transverse pin 13, the whole steering motor is supported on the entity main pin shaft 43 through an upper motor shell and a lower motor shell, the hub motor is supported on the steering motor shell through an upper connecting arm and a lower connecting arm, wherein a rotor of the hub motor is connected with a wheel rim, driving torque of the hub motor is output through the rim, reaction force of a road surface to the wheel is transmitted to the hub motor through the rim, and the hub motor sequentially transmits the reaction force to the upper cross arm and the lower cross arm of the suspension through the upper connecting arm, the lower connecting arm, the upper motor shell, the lower motor shell and the entity main pin shaft. The steering motor winding 18 is fixed on the solid main pin shaft 43 to become a steering motor stator, and the steering motor rotor 21 is integrated with the primary sun gear 21, so that the torque output by the steering motor is transmitted to the two-stage planetary gear reduction mechanism through the primary sun gear 21. When the two-stage planetary gear speed reducing mechanism works, the first-stage sun gear 21 rotates with the first-stage planet gears 12, the first-stage annular gear 5 is fixed on the entity main pin shaft 43 along with the second-stage lower-end planet carrier 5, the second-stage planet shafts 29 and the second-stage upper-end planet carrier 37, and cannot rotate, so that the first-stage planet shafts 8 rotate along with the rotation of the first-stage planet gears 12, the rotation axes of the first-stage planet shafts 8 are the axes of the entity main pin shafts 43, the rotation of the second-stage sun gear 28 rotates with the second-stage planet gears 32 fixed on the second-stage planet shafts 29, the rotation axes of the second-stage planet gears 32 rotate with the second-stage annular gear 33, the second-stage annular gear 33 serves as the only power output end of the two-stage planetary gear speed reducing mechanism, the torque of the steering motor amplified according to the speed ratio is transmitted to the motor casing of the steering motor, and then the torque is transmitted to the hub motor through the upper connecting arms and lower connecting arms, and the whole steering wheel is finally driven, that is, the steering of an automobile can be realized only through online control of the steering motor.
Although embodiments of the present utility model have been disclosed above, it is not limited to the details and embodiments shown and described, it is well suited to various fields of use for which the utility model would be readily apparent to those skilled in the art, and accordingly, the utility model is not limited to the specific details and illustrations shown and described herein, without departing from the general concepts defined in the claims and their equivalents.
Claims (9)
1. A drive-by-wire steering vehicle drive-and-steering integrated apparatus, comprising:
the hub motor shell is respectively connected with the upper connecting arm and the lower connecting arm;
the upper end of the steering motor shell is fixedly connected with the upper connecting arm, and the lower end of the steering motor shell is fixedly connected with the lower connecting arm;
a solid main pin rotatably passing through upper and lower ends of the steering motor housing, the steering motor housing being supported on the solid main pin;
the stator is arranged in the steering motor shell and fixedly sleeved on the entity main pin shaft;
the first-stage planetary gear row comprises a first-stage sun gear, a first-stage planet carrier and a fixed first-stage annular gear;
the primary sun wheel is supported on the entity main pin shaft through a needle roller assembly and is used for outputting power to the primary planet wheel;
a rotor having a housing cavity housing the stator; the rotor and the first-stage sun gear are connected into a whole;
the primary planet wheel drives the primary planet carrier to rotate so as to output power;
the second-stage planetary gear row comprises a second-stage sun gear, a second-stage planet carrier and a second-stage annular gear;
the secondary sun gear is rotatable on the entity main pin shaft and can rotate together after being fixedly connected with the primary planet carrier into a whole;
the secondary sun gear drives the secondary planet gears to rotate, so that the secondary annular gear is driven to rotate; the secondary annular gear is fixedly connected with the steering motor shell and drives the steering motor shell to rotate around the entity main pin shaft;
the double-cross arm suspension comprises an upper cross arm and a lower cross arm, and the tail ends of the upper cross arm and the lower cross arm are provided with rotating shafts; the two ends of the solid main pin shaft are rotatably connected to the rotating shaft.
2. The drive-by-wire steering vehicle drive-and-steering integrated apparatus according to claim 1, wherein the upper end of the secondary planet shaft is locked and locked to the secondary planet carrier by a nut; and
the secondary planet carrier is fixed on the solid main pin shaft through a spline and is clamped through an elastic retainer ring for the shaft.
3. The drive-by-wire steering integrated device of claim 2, wherein the primary ring gear is fixedly connected to the lower end of the secondary planet carrier as a unit.
4. The drive-by-wire steering vehicle drive-and-steering integrated apparatus of claim 3, wherein the lower end of the stator axially locks the steering motor winding by means of a nut and a stop washer, and the upper end is fixed to the lower end of the primary sun gear by means of a stopper.
5. The drive-by-wire steering vehicle drive and steering integrated assembly of any one of claims 1-4, wherein the upper and lower cross arms each have an open pocket at the pivot, and the solid king pin shaft is matingly mounted within the open pocket.
6. The drive-by-wire steering vehicle drive-and-steering integrated apparatus according to claim 5, wherein the rotary shafts are each perpendicular to an axial direction of the solid king pin shaft and are each parallel to the upper cross arm and the lower cross arm.
7. The drive-by-wire steering vehicle drive-and-steering integrated apparatus according to claim 6, wherein both ends of the rotating shaft are fixedly locked by nuts.
8. The drive-by-wire steering vehicle drive-and-steering integrated apparatus according to claim 7, wherein a motor housing of the in-wheel motor is connected to the upper connecting arm and the lower connecting arm by bolts; and
the upper end motor casing of steering motor pass through the bolt with go up the linking arm links to each other, the lower extreme motor casing of steering motor pass through the bolt with the linking arm links to each other down.
9. A vehicle characterized in that steering drive is performed using the integrated apparatus according to any one of claims 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810014346.5A CN108032900B (en) | 2018-01-08 | 2018-01-08 | Drive and steering integrated device of steer-by-wire automobile and vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810014346.5A CN108032900B (en) | 2018-01-08 | 2018-01-08 | Drive and steering integrated device of steer-by-wire automobile and vehicle |
Publications (2)
| Publication Number | Publication Date |
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| CN108032900A CN108032900A (en) | 2018-05-15 |
| CN108032900B true CN108032900B (en) | 2023-12-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810014346.5A Active CN108032900B (en) | 2018-01-08 | 2018-01-08 | Drive and steering integrated device of steer-by-wire automobile and vehicle |
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| Country | Link |
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| CN (1) | CN108032900B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10829145B2 (en) | 2018-08-08 | 2020-11-10 | Ford Global Technology, Llc | Vehicle steering |
| CN109878280B (en) * | 2019-04-19 | 2024-03-29 | 吉林大学 | Amphibious electric vehicle wheel position conversion device and control method thereof |
| CN113524999A (en) * | 2021-09-07 | 2021-10-22 | 吉林大学 | Double-cross-arm suspension integrated with steering mechanism |
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| CN101648573A (en) * | 2009-08-31 | 2010-02-17 | 吉林大学 | Automobile traveling mechanism with wheel hub comprehensively drive and turning |
| CN107128162A (en) * | 2017-06-28 | 2017-09-05 | 吉林大学 | A kind of heavy-duty vehicle Electric Motor Wheel assembly apparatus and automobile |
| CN207790827U (en) * | 2018-01-08 | 2018-08-31 | 吉林大学 | A kind of driving of steering-by-wire automobile with turn to integrating device and vehicle |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2015101288A1 (en) * | 2013-12-31 | 2015-07-09 | 南车戚墅堰机车车辆工艺研究所有限公司 | Integrated semi-direct-drive wind turbine transmission chain and gear box used thereby |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101648573A (en) * | 2009-08-31 | 2010-02-17 | 吉林大学 | Automobile traveling mechanism with wheel hub comprehensively drive and turning |
| CN107128162A (en) * | 2017-06-28 | 2017-09-05 | 吉林大学 | A kind of heavy-duty vehicle Electric Motor Wheel assembly apparatus and automobile |
| CN207790827U (en) * | 2018-01-08 | 2018-08-31 | 吉林大学 | A kind of driving of steering-by-wire automobile with turn to integrating device and vehicle |
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| CN108032900A (en) | 2018-05-15 |
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