CN109131541A - A kind of rear-wheel active steering apparatus and vehicle - Google Patents
A kind of rear-wheel active steering apparatus and vehicle Download PDFInfo
- Publication number
- CN109131541A CN109131541A CN201811031426.8A CN201811031426A CN109131541A CN 109131541 A CN109131541 A CN 109131541A CN 201811031426 A CN201811031426 A CN 201811031426A CN 109131541 A CN109131541 A CN 109131541A
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- Prior art keywords
- steering
- column
- wheel
- motor
- controller
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- 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
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
- B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
Abstract
The invention provides a kind of rear-wheel active steering apparatus and vehicle, including steering column and steering motor, steering column rotation is fixed on vehicle frame, steering motor moves steering column rotation by gear band, support column is symmetrical arranged on the side wall of steering column, the both ends of support column are hinged with the both ends of arc swing arm respectively, hub motor is set at rear axis, with upper connecting column and lower connecting column are respectively set on the shell of the matched hub motor of support column height, be respectively set on upper connecting column and lower connecting column accommodate swing arm through-hole.Rear-wheel active steering apparatus described in the invention realizes the rotation of steering column by steering motor, and steering column drives rear wheel by swing arm, and the apparatus structure is simple, can be realized the rotation of the various angles of rear-wheel.
Description
Technical field
The invention belongs to technical field of vehicle, more particularly, to a kind of rear-wheel active steering apparatus and vehicle.
Background technique
Logistic industry develops rapidly nearly ten years as national economy artery, the freight logistics of big and small Various Functions
Vehicle has shuttled in urban road or factory's carrier, facilitates labor operation and the life of people.But because of automobile recent years
The rapid development of industry, current various vehicles have been crowded with streets and lanes, have caused the situation to find no parking space, while also depositing
Even if finding parking stall, fore-aft vehicle lean on it is close if, it is also difficult to run out.Space is small, cornering difficulties, is present institute face
The main problem faced.Present vehicle is often limited to the movement in forward-reverse direction, and when the vehicle is turning, need driver
Steering wheel rotation, repeatedly adjustment wheel is just able to achieve to suitable angle and smoothly turns, and increases the complexity of turning operation,
Especially in narrow space, it is less useful for the smooth turning of vehicle.
When automobile turns under steam, due to the effect by lateral force, front-wheel has the characteristic of understeer, and rear-wheel has excessively
The tendency of steering, the latter can cause vehicle to lose the stability of Turning travel, and the higher problem of speed is more obvious, or even is breakked away
It overturning, is generally compensated using rear-wheel active steering apparatus, rear-wheel active steering apparatus mainly uses linear stepping motor,
The gear rack type steering engine structure on rear-wheel steering system assembly is directly driven under the adjusting of control system, and then is turned by traction
The Small-angle Rotation of rear-wheel is realized to pull rod, the disadvantage is that substantially increasing effect of rear-wheel during full-vehicle steering, such as
Fruit control does not with great difficulty bring security risk.
Summary of the invention
In view of this, the invention is directed to a kind of rear-wheel active steering apparatus and vehicle, to solve above-mentioned technology
Problem.
In order to achieve the above objectives, the technical solution of the invention is achieved in that
A kind of rear-wheel active steering apparatus, including steering column and steering motor, steering column rotation are fixed on vehicle frame, are turned
Steering column rotation is moved by gear band to motor, is symmetrical arranged support column on the side wall of steering column, the both ends of support column respectively with
The both ends of arc swing arm are hinged, hub motor are arranged at rear axis, in the shell with the matched hub motor of support column height
On connecting column and lower connecting column is respectively set, be respectively set on upper connecting column and lower connecting column accommodate swing arm through-hole.
It further, further include control system, control system includes connected steering controller and entire car controller, is turned to
Angle-position encoder is set on motor, and angle-position encoder is connected with steering controller, and steering motor is connected with entire car controller, corner
Encoder encodes the steering angle of rear-wheel, and steering controller receives the encoded signal of angle-position encoder, steering controller
For exports coding signal to entire car controller, entire car controller outputs signal to steering motor, and steering motor controls steering column rotation.
Further, damping after being arranged between the rear-wheel and apparatus for rear wheel steering, after rear damping includes
Fixing seat, rear shock absorber is arranged in shock absorber strut and the rear damping spring for being socketed in rear shock absorber pillar upper end, steering column top
The top of pillar is fixed in fixing seat, and the bottom end of rear shock absorber pillar is fixed on lower connecting column.
Further, the steering top end is arranged concentrically tooth sector, and tooth sector is engaged with matched driving wheel, main
Driving wheel is fixed in the shaft of steering motor.
Further, the axial line of the support column and the axial line of rear-wheel are vertical, and the both ends of support column are with steering column
Central symmetry distribution.
A kind of vehicle, including above-mentioned rear-wheel active steering apparatus.
Compared with the existing technology, a kind of rear-wheel active steering apparatus and vehicle described in the invention have following excellent
Gesture:
(1) rear-wheel active steering apparatus of the present invention realizes the rotation of steering column by steering motor, and steering column is logical
Overswing armband moves rear wheel, and the apparatus structure is simple, can be realized the rotation of the various angles of rear-wheel.
(2) vehicle of the present invention realizes transverse shifting when vehicle removes or moves into parking stall, in normal vehicle operation
When, active steering does not occur for rear-wheel, by setting different programs to steering controller, changes threshold value speed and threshold value turns to
Angle, additionally it is possible to which realization is turned at any angle.
Detailed description of the invention
The attached drawing for constituting a part of the invention is used to provide to further understand the invention, present invention wound
The illustrative embodiments and their description made are used to explain the present invention creation, do not constitute the improper restriction to the invention.?
In attached drawing:
Fig. 1 is the structural schematic diagram of the invention vehicle；
Fig. 2 is the structural schematic diagram of shock absorbing part before the invention；
Fig. 3 is the structural schematic diagram of the invention apparatus for rear wheel steering；
Fig. 4 is schematic diagram when handle controls Vehicular turn；
Fig. 5 is the flow chart for controlling rear-wheel active steering.
Description of symbols:
10, vehicle frame；101, seat；102, support arm；103, the first fixing pipe；104, the second fixing pipe；20, preceding damping machine
Structure；201, connecting plate；2011, positioning pipe；202, front damper pillar；203, preceding damping spring；30, handle；301, bull stick；
40, front-wheel；50, apparatus for rear wheel steering；501, steering column；5011, support column；5012, fixing seat；502, tooth sector；503,
Driving wheel；504, steering motor；505, swing arm；60, rear-wheel；601, hub motor；602, upper connecting column；603, lower connecting column；
70, rear damping；701, rear shock absorber pillar；702, rear damping spring；80, control system；801, entire car controller；802,
Steering controller；803, report control platform；8031, pole changer.
Specific embodiment
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the invention can
To be combined with each other.
In the description of the invention, it is to be understood that term " center ", " longitudinal direction ", " transverse direction ", "upper", "lower",
The orientation or positional relationship of the instructions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description the invention and simplifies description, rather than indicate
Or imply that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore cannot understand
For the limitation to the invention.In addition, term " first ", " second " etc. are used for description purposes only, and should not be understood as indicating
Or it implies relative importance or implicitly indicates the quantity of indicated technical characteristic." first ", " second " etc. are defined as a result,
Feature can explicitly or implicitly include one or more of the features.In the description of the invention, unless separately
It is described, the meaning of " plurality " is two or more.
In the description of the invention, it should be noted that unless otherwise clearly defined and limited, term " peace
Dress ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally
Connection；It can be mechanical connection, be also possible to be electrically connected；Can be directly connected, can also indirectly connected through an intermediary,
It can be the connection inside two elements.For the ordinary skill in the art, on being understood by concrete condition
State concrete meaning of the term in the invention.
The present invention will be described in detail below with reference to the accompanying drawings and embodiments creates.
As shown in Figure 1, one kind is capable of the vehicle of transverse shifting, including vehicle frame 10, seat 101, vehicle frame are set on vehicle frame 10
Handle 30 is arranged in 10 front ends, and what handle 30 rotated is fixed on the crossbeam of 10 front end of vehicle frame, is arranged on the crossbeam of 10 front end of vehicle frame
Second fixing pipe 104,30 bottom surface of handle middle part are arranged bull stick 301, bearing, 301 bottom of bull stick are arranged inside the second fixing pipe 104
It being fixed on across bearing and by bearing cap in the second fixing pipe 104,301 bottom end of bull stick is fixedly connected with preceding damping 20,
Front-wheel 40 is arranged in preceding 20 bottom of damping.
As shown in Fig. 2, preceding damping 20 includes connecting plate 201, the line between 30 two-end-point of connecting plate 201 and handle is flat
Row, 301 bottom end of bull stick are fixedly connected on 201 top surface midpoint of connecting plate or 201 top surface midpoint of connecting plate setting positioning pipe
2011,301 bottom end of bull stick is protruded into positioning pipe 2011 and is fixed, and 201 bottom surface of connecting plate is with damping before centrosymmetric two groups of setting
Device assembly, every group of front damper assembly include two front damper pillars 202 and subtract before being set on front damper pillar 202
Spring 203 is shaken, the axial line of front damper pillar 202 is vertical with 201 surface of connecting plate, the preceding damping of every group of front damper assembly
The bottom end of device pillar 202 is connected respectively in the shaft of 40 left and right ends of front-wheel by pin shaft.
The support arm 102 along cross-car distribution, support arm are respectively set on the left and right sides vehicle frame 10 at 10 rear of vehicle frame
102 one end are fixed on vehicle frame 10, and the other end of support arm 102 extends to the direction far from 10 left side wall of vehicle frame or right side wall,
The direction definition of the end setting apparatus for rear wheel steering 50 of support arm 102, headstock and tailstock midpoint line is longitudinal direction of car, with vehicle
Longitudinally perpendicular direction definition is lateral direction of car, as shown in figure 3, apparatus for rear wheel steering 50 includes steering column 501 and turns to electricity
Machine 504, what steering column 501 can rotate is fixed on support arm 102, and the first fixing pipe 103 is arranged in the end of support arm 102,
The axis of first fixing pipe 103 state in a vertical shape is distributed, and bearing is arranged inside the first fixing pipe 103, and the middle part of steering column 501 is logical
It crosses bearing and bearing cap is fixed in the first fixing pipe 103,501 top of steering column is arranged concentrically tooth sector 502, tooth sector
502 engage with matched driving wheel 503, and driving wheel 503 is fixed in the shaft of steering motor 504.
The vehicle further includes control system 80, and control system 80 includes entire car controller 801 and steering controller 802, is turned
It is connected to motor 504 with entire car controller 801, angle-position encoder, angle-position encoder and course changing control is set in steering motor 504
Device 802 is connected, and steering controller 802 is connected with entire car controller 801, and steering controller 802 can acquire angle-position encoder volume
The turn signal received is input to entire car controller 801, vehicle control by the signal of the rotational angle of code, steering controller 802
Device 801 processed controls steering motor 504 and rotates, to realize the steering to rear-wheel 60.
Equipped with report control platform 803 is arranged on the vehicle frame 10 at handle 30, setting controls the steering turned on report control platform 803
Switch 8031, can be manually opened or be closed, and pole changer 8031 is connected with steering controller 802, and steering controller 802 can
Read the state of pole changer 8031.
Angular transducer is set in handle 30, and angular transducer is connected with steering controller 802,802 energy of steering controller
The angle value of angular transducer in handle 30 is enough read, as shown in figure 4, turning to control when swing handle 30 triggers Vehicular turn
Device 802 processed reads the steering angle of handle 30, and angle information is inputted angle-position encoder, and angle-position encoder turns to rear-wheel 60
It is encoded to angle, steering controller 802 receives the encoded signal of angle-position encoder, while the output of steering controller 802 is compiled
For code signal to entire car controller 801, entire car controller 801 outputs signal to steering motor 504, and the control of steering motor 504 turns to
Column 501 rotates, to realize the active steering of rear-wheel 60, makes vehicle under narrow job space environment, can be realized transverse direction
Mobile, pivot stud and any angle turning driving, reduce the complexity of vehicle turning operation, improve turning efficiency,
Improve the safety of vehicle drive.
Apparatus for rear wheel steering 50 is connected with rear-wheel 60, is symmetrical arranged on the side wall of the steering column 501 in 10 direction of vehicle frame
Support column 5011, support column 5011 are in horizontal distribution, and the both ends of support column 5011 are hinged with 505 both ends of the swing arm of arc respectively,
Hub motor 601 is arranged in 60 center of rear-wheel, is respectively set on the shell of the hub motor 601 with 5011 matched of support column
The through-hole for accommodating swing arm 505 is respectively set on upper connecting column 602 and lower connecting column 603, upper connecting column 602 and lower connecting column 603,
The axial line of support column 5011 is vertical with the axial line of rear-wheel 60, and the both ends of support column 5011 are symmetrical centered on steering column 501
Distribution.
Damping 70 after being arranged between rear-wheel 60 and apparatus for rear wheel steering 50, rear damping 70 include rear shock absorber
Fixing seat is arranged in pillar 701 and the rear damping spring 702 for being socketed in 701 upper end of rear shock absorber pillar, 501 top of steering column
5012, the top of rear shock absorber pillar 701 is fixed in fixing seat 5012, and the bottom end of rear shock absorber pillar 701 is fixed on lower company
It connects on column 603.
Bicycle shed is set on the vehicle frame 10 of 101 top of seat, the case of contain things is set on the vehicle frame 10 at 101 rear of seat
Body.
In addition, the vehicle further includes dynamical system and braking system, the prior art can be used.
A kind of control method of vehicle that capableing of transverse shifting, mainly including the following steps:
S1, it is less than threshold value speed when steering controller 802 is detected simultaneously by the speed that entire car controller 801 inputs, turns to
The steering angle of the angular transducer in the open state, on handle 30 of switch 8031 be more than or equal to threshold value steering angle and on
Detection signal is stated when continuing one end time, go to action starts.
When transverse shifting, threshold value speed is 5km/h, and the threshold value steering angle of handle 30 is 70 °, and steering controller 802 detects
The duration of threshold value speed, 8031 open state of pole changer and threshold value steering angle needs in 3s or more.
S2, steering controller 802 output signal to entire car controller 801, and 801 regulation speed of entire car controller is in threshold value vehicle
For speed hereinafter, simultaneously, entire car controller 801 outputs signal to steering motor 504, steering motor 504 rotates steering column 501, turns
To column 501 drive rear-wheel 60 rotate, be consistent the steering angle of rear-wheel 60 and the steering angle of front-wheel 40, vehicle slowly remove or
Move into parking stall, by control handle 30, to control the rotation of rear-wheel 60, can be realized the transverse shifting of vehicle, pivot stud or
Person such as turns at the movement at any angle.
S3, when steering controller 802 detect pole changer 8031 close or 30 steering angle of handle be less than threshold value steering
When angle, to entire car controller 801, entire car controller 801 releases speed and is less than threshold value speed the meeting input signal of steering controller 802
Limitation, while entire car controller 801 outputs signal to steering motor 504, and steering motor 504 controls rear-wheel 60 and turns to normally
Traveling-position, steering motor 504 is out of service, and vehicle is completed to turn to.
This method can realize transverse shifting when vehicle removes or moves into parking stall, in normal vehicle operation, rear-wheel 60
Active steering does not occur, by setting different programs to steering controller 802, changes threshold value speed and threshold value steering angle, also
It can be realized and turn at any angle, 60 transfer 50 of rear-wheel realizes the rotation of steering column 501 by steering motor 504, turns
Rear-wheel 60 is driven to rotate by swing arm 505 to column 501, the apparatus structure is simple, can be realized the rotation of the various angles of rear-wheel 60.
Swing handle 30, steering controller 802 reads the steering angle of handle 30, and angle information input corner is encoded
Device, angle-position encoder encode the steering angle of rear-wheel 60, and steering controller 802 receives the coding letter of angle-position encoder
Number, while 802 exports coding signal of steering controller, to entire car controller 801, entire car controller 801 outputs signal to steering electricity
Machine 504, steering motor 504 control steering column 501 and rotate, to realize the active steering of rear-wheel 60, make vehicle in narrow sky
Between under operating environment, can be realized transverse shifting, pivot stud and any angle turning driving, reduce vehicle turning operation
Complexity, improve turning efficiency, improve the safety of vehicle drive.
The foregoing is merely the preferred embodiments of the invention, are not intended to limit the invention creation, all at this
Within the spirit and principle of innovation and creation, any modification, equivalent replacement, improvement and so on should be included in the invention
Protection scope within.
Claims (6)
1. a kind of rear-wheel active steering apparatus, it is characterised in that: including steering column (501) and steering motor (504), steering column
(501) what is rotated is fixed on vehicle frame (10), and steering motor (504) moves steering column (501) rotation, steering column by gear band
(501) support column (5011) are symmetrical arranged on side wall, the both ends of support column (5011) both ends with arc swing arm (505) respectively
Hingedly, hub motor (601) are set at rear-wheel (60) axle center, in the hub motor (601) with support column (5011) matched
Shell on be respectively set connecting column (602) and lower connecting column (603), on upper connecting column (602) and lower connecting column (603) point
The through-hole of swing arm (505) She Zhi not accommodated.
2. a kind of rear-wheel active steering apparatus according to claim 1, it is characterised in that: it further include control system (80),
Control system (80) includes connected steering controller (802) and entire car controller (801), and setting turns in steering motor (504)
Angular encoder, angle-position encoder are connected with steering controller (802), and steering motor (504) is connected with entire car controller (801),
Angle-position encoder encodes the steering angle of rear-wheel (60), and steering controller (802) receives the coding letter of angle-position encoder
Number, while steering controller (802) exports coding signal is given entire car controller (801), entire car controller (801) outputs signal to
Steering motor (504), steering motor (504) control steering column (501) rotation.
3. a kind of rear-wheel active steering apparatus according to claim 1, it is characterised in that: in the rear-wheel (60) and rear-wheel
Damping (70) after being arranged between transfer (50), rear damping (70) include rear shock absorber pillar (701) and socket
Rear damping spring (702) in rear shock absorber pillar (701) upper end, steering column (501) top be arranged fixing seat (5012), after subtract
The top of shake device pillar (701) is fixed on fixing seat (5012), and the bottom end of rear shock absorber pillar (701) is fixed on lower connecting column
(603) on.
4. a kind of rear-wheel active steering apparatus according to claim 1, it is characterised in that: steering column (501) top
It is arranged concentrically tooth sector (502), tooth sector (502) is engaged with matched driving wheel (503), and driving wheel (503) is fixed on
In the shaft of steering motor (504).
5. a kind of rear-wheel active steering apparatus according to claim 1, it is characterised in that: the axis of the support column (5011)
Heart line is vertical with the axial line of rear-wheel (60), and the both ends of support column (5011) are symmetrical centered on steering column (501).
6. a kind of vehicle, it is characterised in that: including the described in any item rear-wheel active steering apparatus of the claims 1-5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811031426.8A CN109131541A (en) | 2018-09-05 | 2018-09-05 | A kind of rear-wheel active steering apparatus and vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811031426.8A CN109131541A (en) | 2018-09-05 | 2018-09-05 | A kind of rear-wheel active steering apparatus and vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109131541A true CN109131541A (en) | 2019-01-04 |
Family
ID=64827084
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811031426.8A Pending CN109131541A (en) | 2018-09-05 | 2018-09-05 | A kind of rear-wheel active steering apparatus and vehicle |
Country Status (1)
| Country | Link |
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| CN (1) | CN109131541A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08268312A (en) * | 1995-03-31 | 1996-10-15 | Nissan Motor Co Ltd | Rear wheel steering device |
| CN201670260U (en) * | 2010-05-07 | 2010-12-15 | 深圳职业技术学院 | Independent steering device and independent suspension system |
| KR20140078386A (en) * | 2012-12-17 | 2014-06-25 | 한국생산기술연구원 | electrical scooter having rear wheel steering unit |
| CN105517879A (en) * | 2013-07-31 | 2016-04-20 | Ntn株式会社 | Steering device and vehicle with same |
| CN105882741A (en) * | 2016-05-24 | 2016-08-24 | 辽宁工业大学 | Independent drive and steering type modularized automobile wheel assembly and rear wheel steering control method |
| CN106080764A (en) * | 2016-06-12 | 2016-11-09 | 华北理工大学 | The four motor-driven logistic cars of wheel hub |
| CN106739909A (en) * | 2017-01-06 | 2017-05-31 | 深圳大学 | Electric vehicle hub turns to suspension system |
-
2018
- 2018-09-05 CN CN201811031426.8A patent/CN109131541A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08268312A (en) * | 1995-03-31 | 1996-10-15 | Nissan Motor Co Ltd | Rear wheel steering device |
| CN201670260U (en) * | 2010-05-07 | 2010-12-15 | 深圳职业技术学院 | Independent steering device and independent suspension system |
| KR20140078386A (en) * | 2012-12-17 | 2014-06-25 | 한국생산기술연구원 | electrical scooter having rear wheel steering unit |
| CN105517879A (en) * | 2013-07-31 | 2016-04-20 | Ntn株式会社 | Steering device and vehicle with same |
| CN105882741A (en) * | 2016-05-24 | 2016-08-24 | 辽宁工业大学 | Independent drive and steering type modularized automobile wheel assembly and rear wheel steering control method |
| CN106080764A (en) * | 2016-06-12 | 2016-11-09 | 华北理工大学 | The four motor-driven logistic cars of wheel hub |
| CN106739909A (en) * | 2017-01-06 | 2017-05-31 | 深圳大学 | Electric vehicle hub turns to suspension system |
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