CN109334760B - Adjustment control method of all-wheel steering vehicle steering trapezoid adjusting device - Google Patents
Adjustment control method of all-wheel steering vehicle steering trapezoid adjusting device Download PDFInfo
- Publication number
- CN109334760B CN109334760B CN201811393423.9A CN201811393423A CN109334760B CN 109334760 B CN109334760 B CN 109334760B CN 201811393423 A CN201811393423 A CN 201811393423A CN 109334760 B CN109334760 B CN 109334760B
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- steering
- wheel
- trapezoid
- eccentric shaft
- tie rod
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- 238000000034 method Methods 0.000 title claims abstract description 16
- 241000826860 Trapezium Species 0.000 claims description 7
- 238000005299 abrasion Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
Classifications
-
- 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
-
- 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
- B62D7/16—Arrangement of linkage connections
Landscapes
- 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 relates to a trapezoid steering adjusting device of an all-wheel steering vehicle and an adjusting control method, wherein the trapezoid steering adjusting device comprises a steering gear which is connected with a steering vertical arm, the steering vertical arm is connected with an eccentric shaft through a speed reducing motor, and an output shaft of the speed reducing motor is connected with the eccentric shaft and transmits torque; the eccentric shaft is respectively hinged with a first transverse pull rod and a second transverse pull rod, the other end of the first transverse pull rod is hinged with a first trapezoid arm, and the other end of the second transverse pull rod is hinged with a second trapezoid arm; the other end of the first trapezoid arm is hinged with a first wheel axle, and the other end of the second trapezoid arm is hinged with a second wheel axle; the axes of the first wheel axle and the second wheel axle, the first trapezoid arm, the second trapezoid arm, the first tie rod and the second tie rod together form a steering trapezoid. The steering device has the advantages of simple structure, convenience in control and capability of meeting the turning angle relation under different working conditions of all-wheel steering, and has great practical value.
Description
Technical Field
The invention belongs to the technical field of vehicle steering control, and relates to a steering trapezoid adjusting method and device for an all-wheel steering vehicle, which can ensure that the Ackerman law is approximately satisfied under different steering working conditions of the vehicle, and each tire realizes pure rolling.
Background
The automobile four-wheel steering technology can enable the rear wheels to participate in steering. The front wheel and the rear wheel are deflected in different directions during low-speed running, so that the minimum turning radius can be reduced, and the maneuverability of the automobile is effectively improved; at high speed, the front wheels and the rear wheels deflect in the same direction, so that the lane change from one lane to the other lane is facilitated, and the steering stability and the driving safety are improved. Therefore, it will be one of the development directions of automobiles.
In order to reduce tire wear, whether a traditional two-wheel steering automobile or a four-wheel steering automobile is adopted, the steering centers of all wheels are ensured to meet a point during turning, so that pure rolling of the tires is approximately realized, namely, the Ackerman law is required to be satisfied during steering of left and right wheels. The corner relationship can be ensured by reasonable steering trapezium.
For a four-wheel steering automobile, when low-speed four-wheel steering wants to change in high-speed four-wheel steering, the axis where the steering center is located is offset due to the subsequent change of the steering angle, so that the corresponding ideal steering trapezium also changes synchronously. The traditional steering trapezium cannot be adjusted, so that the ideal corner relation during low-speed and high-speed running cannot be simultaneously met, and serious abrasion of the tire is caused.
Disclosure of Invention
Aiming at the situation, the invention provides a steering trapezoid adjusting method and device and an adjusting control method, which have the advantages of simple structure, convenient control and high practical value, and can meet the corner relation of all-wheel steering under different working conditions.
In order to achieve the above purpose, the design scheme of the invention is as follows: the trapezoid steering adjusting device for the all-wheel steering vehicle comprises a steering gear, wherein the steering gear is connected with a steering vertical arm, the steering vertical arm is connected with a speed reduction motor, and an output shaft of the speed reduction motor is connected with an eccentric shaft and transmits torque; the eccentric shaft is respectively hinged with a first transverse pull rod and a second transverse pull rod, the other end of the first transverse pull rod is hinged with a first trapezoid arm, and the other end of the second transverse pull rod is hinged with a second trapezoid arm; the other end of the first trapezoid arm is hinged with a first wheel axle, and the other end of the second trapezoid arm is hinged with a second wheel axle; the axes of the first wheel axle and the second wheel axle, the first trapezoid arm, the second trapezoid arm, the first tie rod and the second tie rod together form a steering trapezoid.
The eccentric shaft adopts a multi-section structure and comprises a top cylindrical section, a first eccentric shaft section and a second eccentric shaft section, wherein the top cylindrical section is connected with the output shaft end of the speed reducing motor; the first eccentric shaft section is hinged with the second tie rod; the second eccentric shaft section is hinged with the first tie rod.
The phase difference of the first eccentric shaft section and the second eccentric shaft section is 180 degrees.
The first tie rod and the second tie rod adopt an integral structure or a multisection spliced structure.
The steering gear is connected with the steering wheel through a connecting rod and drives the steering gear to turn through the steering wheel.
The adjustment control method of the all-wheel steering vehicle steering trapezoid adjusting device is adopted, the speed reducing motor fixed on the steering vertical arm is used for driving the eccentric shaft to rotate, the relative position of the first tie rod and the second tie rod is changed through rotation of the eccentric shaft, the total length of the first tie rod and the second tie rod is further adjusted, the purpose of changing the steering trapezoid is achieved, the corner relation of the left wheel and the right wheel is further adjusted, and the ideal corner state adapting to different vehicle speeds and different working conditions is achieved.
When steering, a driver controls the steering wheel to rotate, the steering vertical arm is driven by the steering gear to swing around the steering gear output shaft, and the eccentric shaft drives the first tie rod and the second tie rod to move left and right, so that the deflection of left and right wheels is controlled;
if the rotation angle relation of the left wheel and the right wheel is required to be adjusted, the steering vertical arm drives the eccentric shaft to rotate through the gear motor, and the eccentric shaft drives the first tie rod and the second tie rod to move relatively, so that the purpose of adjusting the total length of the two tie rods is achieved, and further the deflection of the left wheel and the right wheel is controlled.
When the speed is low, the front wheel and the rear wheel deflect in different directions, the steering center is positioned between the front axis and the rear axis, and at the moment, the steering vertical arm drives the speed reducing motor to drive the eccentric shaft to adjust the total length of the first transverse pull rod and the second transverse pull rod, so that the first transverse pull rod and the second transverse pull rod move in opposite directions, the total length of the first transverse pull rod and the second transverse pull rod is shortened, and the first transverse pull rod and the second transverse pull rod meet the steering requirement when the speed is low;
as the speed of the vehicle increases, the steering angle of the rear wheels in different directions is reduced, when the set speed of the vehicle is reached, the rear wheels keep the middle position and turn into the traditional front wheels for steering, and the steering center at the moment is positioned on the rear axis; when the speed exceeds the vehicle speed, the steering is transited to the same direction, and the steering center is positioned behind the rear axis; under the condition, the total length of the first tie rod and the second tie rod needs to be lengthened, and the speed reducing motor is controlled to control the eccentric shaft to rotate 180 degrees, so that the total length of the first tie rod and the second tie rod is lengthened, and the steering requirement in medium and high speed is met.
The left wheel steering relation and the right wheel steering relation are adjusted in a mode of changing the steering trapezoid angle by arranging an adjusting mechanism at the first trapezoid arm and the second trapezoid arm.
The invention has the following beneficial effects:
1. the steering trapezoid adjusting device with the structure can be used for steering wheels, and the steering trapezoid structure ensures that the steering center is positioned between the front axis and the rear axis when the vehicle steers at a low speed. The steering center is located behind the rear axis at the time of high-speed steering. And further, the ideal corner relation between low-speed and high-speed running is satisfied, and the abrasion to the tire during steering is effectively reduced.
2. The steering device has the advantages of simple structure, convenience in control and capability of meeting the turning angle relation under different working conditions of all-wheel steering, and has great practical value.
Drawings
The invention is further described below with reference to the drawings and examples.
FIG. 1 is a schematic view of the overall structure of the turning trapezoid of the present invention.
Fig. 2 is a front view of the tie rod and eccentric shaft connection of the present invention.
Fig. 3 is a structural view of the eccentric shaft of the present invention.
Fig. 4 is a top view of the eccentric shaft of the present invention.
Fig. 5 is a schematic diagram of the movement of the two tie rods of the present invention as their total length is reduced.
Fig. 6 is a schematic diagram of the movement of the two tie rods of the present invention as their total length becomes longer.
In the figure: steering gear 1, steering drop arm 2, eccentric shaft 3, first tie rod 4, first trapezoidal arm 5, second tie rod 6, second trapezoidal arm 7, gear motor 8.
Detailed Description
Embodiments of the present invention will be further described with reference to the accompanying drawings.
Referring to fig. 1-6, an all-wheel steering vehicle steering trapezoid adjusting device comprises a steering gear 1, wherein the steering gear 1 is connected with a steering vertical arm 2, the steering vertical arm 2 is connected with a speed reduction motor 8, and an output shaft of the speed reduction motor 8 is connected with an eccentric shaft 3 and transmits torque; the eccentric shaft 3 is respectively hinged with a first transverse pull rod 4 and a second transverse pull rod 6, the other end of the first transverse pull rod 4 is hinged with a first trapezoid arm 5, and the other end of the second transverse pull rod 6 is hinged with a second trapezoid arm 7; the other end of the first trapezoid arm 5 is hinged with a first wheel axle, and the other end of the second trapezoid arm 7 is hinged with a second wheel axle; the axes of the first and second wheel axles, the first ladder arm 5, the second ladder arm 7, the first tie rod 4 and the second tie rod 6 together form a steering ladder. By adopting the steering trapezoid structure, the aim of changing the trapezoid angle can be achieved by adjusting the steering trapezoid, and further the reasonable corner relation of the left wheel and the right wheel in steering is ensured. The stability and the reliability of steering are ensured.
Further, the eccentric shaft 3 adopts a multi-section structure and comprises a top cylindrical section 301, a first eccentric shaft section 302 and a second eccentric shaft section 303, wherein the top cylindrical section 301 is connected with the output shaft end of the gear motor 8; the first eccentric shaft section 302 is hinged with the second tie rod 6; the second eccentric shaft section 303 is articulated with the first tie rod 4. The eccentric shaft 3 with the structure can drive the first tie rod and the second tie rod simultaneously, so that the total length of the tie rod is adjusted.
Further, the phase difference of the first eccentric shaft section 302 and the second eccentric shaft section 303 is 180 °. By adopting a phase difference of 180 °, the synchronism of the length adjustment of the first tie rod 4 and the second tie rod 6 is ensured.
Further, the first tie rod 4 and the second tie rod 6 adopt an integral structure or a multi-section spliced structure. The trapezoid steering angle can be conveniently adjusted by adopting the assembly structure, so that the steering purpose is achieved.
Further, the steering gear 1 is connected with a steering wheel through a connecting rod, and is driven to steer by the steering wheel to drive the steering gear 1. The steering wheel can drive the steering gear 1, and then the steering gear 1 drives the gear motor 8 and the eccentric shaft 3, so that the aim of adjusting the steering trapezoid ideal steering angle is finally achieved.
Example 2:
by adopting the adjustment control method of the steering trapezoid adjusting device of the all-wheel steering vehicle, the eccentric shaft 3 is driven to rotate by the gear motor 8 fixed on the steering vertical arm 2, the relative positions of the first tie rod 4 and the second tie rod 6 are changed by the rotation of the eccentric shaft 3, the total length of the first tie rod and the second tie rod is further adjusted, the purpose of changing the steering trapezoid is achieved, the corner relation of the left wheel and the right wheel is further adjusted, and the ideal corner state adapting to different vehicle speeds and different working conditions is achieved.
Example 3:
when steering, a driver controls a steering wheel to rotate, the steering device 1 drives the steering drop arm 2 to swing around the steering device output shaft, and the eccentric shaft 3 drives the first tie rod 4 and the second tie rod 6 to move left and right, so that the deflection of left and right wheels is controlled;
if the rotation angle relation of the left wheel and the right wheel is required to be adjusted, the steering vertical arm 2 drives the eccentric shaft 3 to rotate through the speed reducing motor 8, and the eccentric shaft 3 drives the first tie rod 4 and the second tie rod 6 to move relatively, so that the purpose of adjusting the total length of the two tie rods is achieved, and further the deflection of the left wheel and the right wheel is controlled.
Example 4:
at low speed, the front wheel and the rear wheel deflect in opposite directions, the steering center is positioned between the front axis and the rear axis, at the moment, the steering vertical arm 2 drives the gear motor 8 to drive the eccentric shaft 3 to adjust the total length of the first tie rod 4 and the second tie rod 6, so that the two move in opposite directions, at the moment, the gear motor controls the eccentric shaft to rotate to the position shown in fig. 5, so that the total length of the first tie rod 4 and the second tie rod 6 is shortened, and the first tie rod 4 and the second tie rod 6 meet the steering requirement at low speed;
as the speed of the vehicle increases, the steering angle of the rear wheels in different directions is reduced, when the set speed of the vehicle is reached, the rear wheels keep the middle position and turn into the traditional front wheels for steering, and the steering center at the moment is positioned on the rear axis; when the speed exceeds the vehicle speed, the steering is transited to the same direction, and the steering center is positioned behind the rear axis; under the above conditions, the total length of the first tie rod 4 and the second tie rod 6 needs to be lengthened, the eccentric shaft 3 is controlled to rotate 180 degrees by controlling the gear motor 8, and at the moment, the gear motor controls the eccentric shaft to rotate to the position shown in fig. 6, so that the total length of the first tie rod 4 and the second tie rod 6 is prolonged, and the steering requirement at medium and high speeds is met.
By adopting the principle, the purpose of adjusting the steering relationship of the left wheel and the right wheel can be achieved by arranging an adjusting mechanism at the first trapezoid arm 5 and the second trapezoid arm 7 and adjusting the steering relationship of the left wheel and the right wheel in a mode of changing the steering trapezoid angle.
The embodiments of the present invention will be described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments. The skilled person can modify the above embodiments without departing from the innovative points and operating steps of the invention, within the scope of the protection of the claims. The scope of the invention is to be covered by the claims of the present invention.
Claims (6)
1. The adjusting control method of the all-wheel steering trapezoid adjusting device of the all-wheel steering vehicle comprises a steering gear (1), wherein the steering gear (1) is connected with a steering vertical arm (2), the steering vertical arm (2) is connected with a speed reduction motor (8), and an output shaft of the speed reduction motor (8) is connected with an eccentric shaft (3) and transmits torque; the eccentric shaft (3) is respectively hinged with a first transverse pull rod (4) and a second transverse pull rod (6), the other end of the first transverse pull rod (4) is hinged with a first trapezoid arm (5), and the other end of the second transverse pull rod (6) is hinged with a second trapezoid arm (7); the other end of the first trapezoid arm (5) is hinged with a first wheel axle, and the other end of the second trapezoid arm (7) is hinged with a second wheel axle; the axes of the first wheel axle and the second wheel axle, the first trapezoid arm (5), the second trapezoid arm (7), the first tie rod (4) and the second tie rod (6) form a steering trapezoid together;
the eccentric shaft (3) adopts a multi-section structure and comprises a top cylindrical section (301), a first eccentric shaft section (302) and a second eccentric shaft section (303), wherein the top cylindrical section (301) is connected with the output shaft end of the speed reducing motor (8); the first eccentric shaft section (302) is hinged with the second tie rod (6); the second eccentric shaft section (303) is hinged with the first tie rod (4);
the method is characterized in that the adjustment control method comprises the following steps:
the eccentric shaft (3) is driven to rotate by the gear motor (8) fixed on the steering vertical arm (2), the relative position of the first transverse pull rod (4) and the second transverse pull rod (6) is changed by the rotation of the eccentric shaft (3), the total length of the first transverse pull rod is further adjusted, the aim of changing the steering trapezium is achieved, the corner relation of the left wheel and the right wheel is further adjusted, and the ideal corner state adapting to different vehicle speeds and different working conditions is achieved;
when steering, a driver controls the steering wheel to rotate, the steering vertical arm (2) is driven to swing around the steering device output shaft by the steering device (1), and the eccentric shaft (3) drives the first transverse pull rod (4) and the second transverse pull rod (6) to move left and right, so that the deflection of left and right wheels is controlled;
if the rotation angle relation of the left wheel and the right wheel is required to be adjusted, the steering vertical arm (2) drives the eccentric shaft (3) to rotate through the gear motor (8), and the eccentric shaft (3) drives the first transverse pull rod (4) and the second transverse pull rod (6) to move relatively, so that the purpose of adjusting the total length of the two transverse pull rods is achieved, and further the deflection of the left wheel and the right wheel is controlled.
2. The adjustment control method of the all-wheel steering vehicle steering trapezium adjustment apparatus according to claim 1, characterized in that: the phase difference of the first eccentric shaft section (302) and the second eccentric shaft section (303) is 180 degrees.
3. The adjustment control method of the all-wheel steering vehicle steering trapezium adjustment apparatus according to claim 1, characterized in that: the first transverse pull rod (4) and the second transverse pull rod (6) adopt an integral structure or a multisection spliced structure.
4. The adjustment control method of the all-wheel steering vehicle steering trapezium adjustment apparatus according to claim 1, characterized in that: the steering gear (1) is connected with the steering wheel through a connecting rod, and the steering gear (1) is driven to steer through the steering wheel.
5. The adjustment control method of the all-wheel steering vehicle steering trapezoid adjusting device according to claim 1, wherein at low speed, front wheels and rear wheels are deflected in different directions, a steering center is located between front and rear axes, at the moment, a steering drop arm (2) drives a speed reducing motor (8) to drive an eccentric shaft (3) to adjust the total length of a first tie rod (4) and a second tie rod (6), so that the first tie rod (4) and the second tie rod (6) move in opposite directions, the total length of the first tie rod (4) and the second tie rod (6) is shortened, and the first tie rod (4) and the second tie rod (6) meet steering requirements at low speed;
as the speed of the vehicle increases, the steering angle of the rear wheels in different directions is reduced, when the set speed of the vehicle is reached, the rear wheels keep the middle position and turn into the traditional front wheels for steering, and the steering center at the moment is positioned on the rear axis; when the speed exceeds the vehicle speed, the steering is transited to the same direction, and the steering center is positioned behind the rear axis; under the condition, the total length of the first tie rod (4) and the second tie rod (6) needs to be lengthened, and the speed reducing motor (8) is controlled to control the eccentric shaft (3) to rotate 180 degrees, so that the total length of the first tie rod (4) and the second tie rod (6) is lengthened, and the steering requirement in medium and high speed is met.
6. The adjustment control method of an all-wheel steering vehicle steering trapezoid adjusting device according to claim 1, wherein the left-right wheel steering relationship is adjusted by providing an adjusting mechanism at the first trapezoid arm (5) and the second trapezoid arm (7) in such a manner that the steering trapezoid angle is changed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811393423.9A CN109334760B (en) | 2018-11-21 | 2018-11-21 | Adjustment control method of all-wheel steering vehicle steering trapezoid adjusting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811393423.9A CN109334760B (en) | 2018-11-21 | 2018-11-21 | Adjustment control method of all-wheel steering vehicle steering trapezoid adjusting device |
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| Publication Number | Publication Date |
|---|---|
| CN109334760A CN109334760A (en) | 2019-02-15 |
| CN109334760B true CN109334760B (en) | 2023-10-27 |
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| CN201811393423.9A Active CN109334760B (en) | 2018-11-21 | 2018-11-21 | Adjustment control method of all-wheel steering vehicle steering trapezoid adjusting device |
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| WO1988007953A1 (en) * | 1987-04-16 | 1988-10-20 | Zahnradfabrik Friedrichshafen Ag | Steering shaft with power-assisted steering |
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| CN109334760A (en) | 2019-02-15 |
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