CN109515065B - Adjusting system and adjusting method capable of automatically and quantitatively adjusting wheel track of automobile - Google Patents
Adjusting system and adjusting method capable of automatically and quantitatively adjusting wheel track of automobile Download PDFInfo
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- CN109515065B CN109515065B CN201811180888.6A CN201811180888A CN109515065B CN 109515065 B CN109515065 B CN 109515065B CN 201811180888 A CN201811180888 A CN 201811180888A CN 109515065 B CN109515065 B CN 109515065B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B35/00—Axle units; Parts thereof ; Arrangements for lubrication of axles
- B60B35/02—Dead axles, i.e. not transmitting torque
- B60B35/10—Dead axles, i.e. not transmitting torque adjustable for varying track
- B60B35/1072—Dead axles, i.e. not transmitting torque adjustable for varying track by transversally movable elements
- B60B35/109—Dead axles, i.e. not transmitting torque adjustable for varying track by transversally movable elements the element is an axle part
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B35/00—Axle units; Parts thereof ; Arrangements for lubrication of axles
- B60B35/02—Dead axles, i.e. not transmitting torque
- B60B35/10—Dead axles, i.e. not transmitting torque adjustable for varying track
- B60B35/1036—Dead axles, i.e. not transmitting torque adjustable for varying track operated with power assistance
- B60B35/1045—Dead axles, i.e. not transmitting torque adjustable for varying track operated with power assistance electrically
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- Electric Propulsion And Braking For Vehicles (AREA)
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Abstract
The invention relates to an adjusting system and an adjusting method capable of automatically and quantitatively adjusting the wheel track of an automobile, wherein the adjusting system comprises a half shaft with a telescopic spline pair, an ultrasonic detector and a speed sensor which are arranged on a frame in front of the automobile, a display screen arranged in the automobile, an electronic control unit electrically connected with the display screen, four stepping motors connected with the electronic control unit, a harmonic gear reducer, a gear and rack transmission pair, a rolling device and a return device; after the power of the automobile engine is transmitted to the differential of the drive axle, the power is transmitted to the wheels by the two telescopic spline type half shafts. The adjusting device can accurately and quantitatively adjust the wheel distance according to the real-time speed of the automobile and the distance of a front curve or an obstacle, and can set different algorithms in the ECU according to requirements so as to change the control mode of the wheel distance change.
Description
Technical Field
The invention belongs to the field of intelligent control, relates to an automobile wheel track adjusting device, and particularly relates to an adjusting system and an adjusting method capable of automatically and quantitatively adjusting the automobile wheel track.
Background
At present, the wheel distance of the existing automobile is fixed and invariable, and can not be changed according to the change of the use requirement in the use process. However, the difference of the wheel track directly affects the driving performance, for example, the wider the wheel track of the front wheel of the automobile is, the more stable the automobile is when turning, and the better the lateral stability is; however, the wider the track of the front wheel, the lower the steering accuracy and the larger the occupied road width. In addition, the size of the tread also affects the passing ability and driving safety of the automobile on narrow roads.
Chinese patent CN 206826318U discloses a 'vehicle with an adjustable offset distance and an adjustable track' which solves the technical problem that the track can not be adjusted, but the track of the vehicle wheel can not be automatically changed and the mounting surfaces of a rim and a spoke need to be manually replaced; therefore, the wheel track is troublesome in the process of installation or adjustment, and the variable wheel track has the step-type characteristic that the wheel track can only be fixed to a few values, so that the application range is narrow.
Chinese patent CN 102381135 a discloses a "variable wheel-track automobile" which adopts a hydraulic device to change the wheel track, but because the hydraulic transmission device has difficulty in realizing fixed-ratio transmission and the driving structure and control system are simple, the wheel track variation cannot be accurately controlled. In addition, the hydraulic transmission device inevitably leaks hydraulic oil on the relative motion surface, the viscosity of the oil changes along with the change of temperature, the change of the viscosity not only influences the fluidity of the fluid, but also influences the magnitude of the internal friction force, and the internal and external leakage of the hydraulic equipment is caused by the excessively low viscosity, so that the structure is not an ideal choice.
Chinese patent CN 203818926U discloses "an electric vehicle rear wheel track adjusting device", which connects a transmission shaft on a motor with a gear transmission device, two ends of the gear transmission device are respectively provided with a worm and a worm gear, the worm gear is connected with a sliding device, the sliding device slides to realize adjustment of the rear wheel track of the vehicle, but the adjusting device can only adjust the rear wheel track of the vehicle, and no effective control method is provided for adjustment of the rear wheel track of the vehicle, and accurate control cannot be realized; in addition, the worm gear and worm transmission device has low efficiency and high cost, is only suitable for occasions with low transmission power and small application range; moreover, because the lower end face of the sliding rail of the adjusting device is connected with a vehicle body suspension system, when the wheel track is changed, the adjusting device is easy to interfere with the suspension system, and if the working condition of the suspension system is changed, the stability, the safety and the comfort of an automobile are easily influenced, so that the adjusting device with the structure is not reasonable, and the problems can be caused in the using process.
Disclosure of Invention
The invention aims to provide an adjusting system capable of automatically and quantitatively adjusting the wheel track of an automobile, so as to solve the technical problems that the existing wheel track adjusting operation process is complicated, time and labor are wasted, and the wheel track cannot be accurately adjusted according to road conditions.
In order to realize the purpose, the invention is realized by adopting the following technical scheme:
an adjustment system for automatically and quantitatively adjusting the wheel track of an automobile, comprising: the device comprises a half shaft with a telescopic spline pair, an ultrasonic detector and a speed sensor which are arranged on a frame in front of an automobile, a display screen arranged in the automobile, an electronic control unit electrically connected with the display screen, four stepping motors connected with the electronic control unit, a harmonic gear reducer, a gear-rack transmission pair, a rolling device and a return device; the half shaft is connected with the wheels by a rolling device and is used for changing the distance between the two wheels;
the ultrasonic detector is used for detecting the distance d from the automobile to a front obstacle or a turning position and transmitting the distance d to the electronic control unit;
the speed sensor is used for monitoring the speed v of the automobile in real time and transmitting the speed v to the electronic control unit;
the display screen is used for respectively inputting wheel track variation quantities delta L1 and delta L2 of a front wheel and a rear wheel which are expected to be changed by a driver and transmitting data to the electronic control unit; meanwhile, the driver can directly input the expected distance d in the process of changing the wheel track through the display screen;
the electronic control unit comprises a preset module and a calculation module, wherein the preset module is used for storing the set safe time t'; the calculation module is used for calculating the distance d transmitted by the ultrasonic detector or the distance d input by the display screen, the speed v transmitted by the speed sensor, the wheel track variation quantity delta L1 and delta L2 of the front wheel and the rear wheel input by the display screen and the set safe time t', and controlling the four stepping motors according to the calculated condition; when the electronic control unit controls the stepping motors to act, the stepping motors driving the left front wheel and the right front wheel or the stepping motors driving the left rear wheel and the right rear wheel are controlled simultaneously to achieve the expected wheel track variation;
the four stepping motors are respectively arranged on the frame close to the wheels, the output ends of the four stepping motors are connected with the harmonic gear reducer by adopting couplers, and the stepping motors output power according to signals transmitted by the electronic control unit; the four stepping motors have step angles B and are subdivided into X;
the harmonic gear reducer is used for reducing speed and increasing torque and has the transmission ratio of
In the formula z2、z1The numbers of teeth of the rigid gear and the flexible gear are respectively, the symbols in the formula only represent the direction, and the formula is the transmission ratio of the harmonic gear reducer when the rigid gear is fixed, the wave generator drives and the flexible gear drives; the output end of the harmonic gear reducer is connected with a gear with the modulus of m and the tooth number of z;
the rack-and-pinion transmission pair comprises a gear and a rack, a T-shaped slideway is processed on the frame, the bottom of the rack is of a T-shaped structure matched with the T-shaped slideway, and the rack is installed in the T-shaped slideway of the frame in a transmission manner and can slide freely in the T-shaped slideway; the rack is meshed with the gear and is driven to slide along the T-shaped slide way through the gear; a rolling device is arranged at the end part of the rack; the rolling bodies on the rolling device are arranged on the roller path;
the rolling way is fixed on the inner side of the wheel hub through the rolling way fixing frame, and when the wheel rotates, the rolling body continuously rolls in the rolling way.
Preferably, the half shafts comprise an inner half shaft and an outer half shaft connected with the inner half shaft through a universal joint; the outer half shaft adopts a telescopic spline type transmission shaft, the outer half shaft arranges the outer spline part at the inner side, the shaft where the inner spline is arranged at the outer side, and the outer surface of the inner spline shaft is obliquely provided with a return device; one end of the return device is connected with the outer surface of the inner spline shaft, and the other end of the return device is fixed on the frame or the universal joint support.
Preferably, the stepping motor and the harmonic gear reducer are arranged in a motor shell, the gear is arranged on the outer side of the motor shell, and the motor shell is arranged on the frame by adopting a fixing bolt.
The second objective of the present invention is to provide an adjusting method capable of automatically and quantitatively adjusting the wheel track of an automobile, so as to solve the technical problem that the wheel track cannot be accurately adjusted according to the road condition when the wheel track is adjusted.
In order to realize the purpose, the invention is realized by adopting the following technical scheme:
a method for automatically and quantitatively adjusting the wheel track of an automobile specifically comprises the following steps:
step S1, during the running process of the automobile, the ultrasonic detector arranged on the automobile frame detects the distance d from the automobile to the front obstacle or the turning position and transmits the distance d to the electronic control unit; meanwhile, the speed sensor monitors the speed v in real time, and transmits the monitored speed v to the electronic control unit, and when a driver needs to change the wheel track in order to adapt to the driving environment, the driver inputs the wheel track variation delta L1 and delta L2 of the front and rear wheels through a display screen in the automobile;
step S2, the electronic control unit calculates according to the distance d transmitted by the ultrasonic detector, the speed v transmitted by the speed sensor, the wheel track variation delta L1 and delta L2 input by the display screen and the preset safe time t' in the preset model block, and simultaneously controls the stepping motors driving the left front wheel and the right front wheel or the stepping motors driving the left rear wheel and the right rear wheel according to the calculation condition;
the ECU calculates the number of pulses required by the stepping motor in the time (t-t') through the following formula:
in the formula, Δ L is the input wheel track change value of the front wheel or the rear wheel, z2、z1Respectively the tooth numbers of a rigid gear and a flexible gear in the harmonic gear reducer, wherein m is the gear module, z is the tooth number of the gear, B is the step angle of the stepping motor, and X is the subdivision of the stepping motor;
if the fixed frequency pulse is adopted, the method is obtained according to the following formula:
in the formula, Δ L is the input wheel track variation of the front wheel or the rear wheel, B is the step angle of the stepping motor, X is the subdivision of the stepping motor, m is the gear module, z is the gear tooth number, and t is the wheel track variation time (t ═ d/v);
if the frequency conversion mode of the stepping motor is applied, a uniform acceleration and uniform deceleration method is adopted, and the acceleration of the change of the pulse frequency is as follows:
and step S3, the electronic control unit processes the signals and transmits the control signals to the stepping motor, the power of the stepping motor is output to the gear through the coupler and the harmonic gear reducer, the rotary motion is converted into linear motion through the gear-rack transmission pair, the linear motion is transmitted to the wheel through the rolling device, the telescopic spline half shaft connected with the wheel changes along with the change of the wheel track while transmitting the power, and the adjustment of the wheel track variation is completed.
The invention can also directly input the distance d from the automobile to the front obstacle or the turning position expected by the driver and the wheel track variation quantity delta L1 and delta L2 of the front wheel and the rear wheel expected to be changed by the driver through the display screen in the automobile, the electronic control unit calculates according to the distance d input by the display screen, the wheel track variation quantity delta L1 and delta L2 of the front wheel and the rear wheel, the speed v transmitted by the speed sensor and the set safe time t', and controls the stepping motor according to the calculation condition; the electronic control unit performs calculation based on the distance input by the driver when the driver inputs the desired distance, and performs calculation using the distance detected by the ultrasonic detector when the driver does not input the desired distance.
Compared with the prior art, the technical scheme of the invention has the following advantages:
(1) the wheel distance adjusting device can accurately and quantitatively adjust the wheel distance according to the real-time speed of the automobile and the distance of a front curve or an obstacle, and different algorithms can be set in the ECU according to requirements to change the control mode of the wheel distance change.
(2) The mechanical transmission device for changing the wheel track has the advantages of simple structure, compact installation, convenient control and safety and reliability compared with hydraulic, worm and worm gear transmission and other modes.
(3) The wheel track of the front wheel and the wheel track of the rear wheel can change different values at the same time, so that the invention is more widely applicable to the road surface in the using process and ensures that the automobile has better driving feeling.
(4) The invention adopts the harmonic gear reducer to reduce the speed and increase the torque, so that the work of the stepping motor is safer and more reliable, and the defects of high reverse efficiency, low strength and the like caused by adopting other linear transmission devices can be avoided by selecting the gear and rack transmission mode on the linear transmission mode.
(5) The special arrangement mode of the mechanical transmission device can effectively avoid the interference with a suspension system and a steering mechanism, so that the stability, the safety and the comfort of the automobile are better.
Drawings
FIG. 1 is a schematic view of the mounting structure of the adjustment system of the present invention.
Fig. 2 is a schematic view of the connection structure of the stepping motor and the gear-rack transmission pair of the present invention.
FIG. 3 is a schematic view of the mounting structure of the telescopic spline half shaft of the present invention.
Fig. 4 is a schematic view of the structure of the wheel of the present invention.
FIG. 5 is a schematic view of the rack and pinion gear pair of the present invention mounted to a vehicle frame.
Fig. 6 is a control schematic diagram of the electronic control unit EUC of the present invention.
Detailed Description
In order to make the technical solution of the present invention and the advantages and effects thereof apparent to those skilled in the art, the present invention will be further described in detail with reference to the accompanying drawings, which are not intended to limit the present invention.
Example 1
The adjusting system capable of automatically and quantitatively adjusting the wheel track of the automobile can be directly installed on the existing automobile, the automobile can be a front-engine front-wheel drive automobile, and the automobile adopts a side beam type frame;
referring to fig. 1 to 6, an adjusting system for automatically and quantitatively adjusting a wheel track of an automobile includes: the device comprises a half shaft 1 with a telescopic spline pair, an ultrasonic detector 3 and a speed sensor 4, a display screen 5, an electronic control unit (EUC)6, four stepping motors 7, a harmonic gear reducer 8, a gear 12 of a gear-rack transmission pair, a rack 9 of the gear-rack transmission pair, a rolling device 13 and a return spring 10, wherein the half shaft 1 is arranged on a differential mechanism of a drive axle and provided with the telescopic spline pair, and the ultrasonic detector and the speed sensor are arranged on a frame 2 in front of an automobile; after power of an engine on an automobile is transmitted to a differential of a drive axle, the power is transmitted to wheels 11 through two half shafts 1, and the half shafts 1 with telescopic spline pairs are used for changing the distance between the two wheels;
the ultrasonic detector 3 is used for detecting the distance d from the automobile to a front obstacle or a turning position and transmitting the distance d to the electronic control unit 6;
the speed sensor 4 is used for monitoring the speed v of the automobile in real time and transmitting the speed v to the electronic control unit 6;
the display screen 5 is used for respectively inputting wheel track variation quantities delta L1 and delta L2 of a front wheel and a rear wheel which are expected to be changed by a driver and transmitting data to the electronic control unit 6; meanwhile, the driver can directly input the expected distance d in the process of changing the wheel track through the display screen;
the electronic control unit 6 comprises a preset module and a calculation module, wherein the preset module is used for storing the set safe time t'; the calculation module is used for calculating the distance d transmitted by the ultrasonic detector or the distance d input by the display screen, the speed v transmitted by the speed sensor, the wheel track variation quantity delta L1 and delta L2 of the front wheel and the rear wheel input by the display screen and the set safe time t', and controlling the four stepping motors 7 according to the calculated condition; when the electronic control unit 6 controls the stepping motor 7 to act, the stepping motors driving the left front wheel and the right front wheel or the stepping motors driving the left rear wheel and the right rear wheel are controlled simultaneously to reach the expected wheel track variation (see fig. 6);
the four stepping motors 7 are respectively arranged on the frame close to the wheels, the stepping motor arranged near the left front wheel drives the left front wheel, and the stepping motor arranged near the right front wheel drives the right front wheel; the stepping motor arranged near the left rear wheel drives the left rear wheel, and the stepping motor arranged near the right rear wheel drives the right rear wheel; the output ends of the four stepping motors 7 are connected with the harmonic gear reducer by adopting a coupler 17, and the stepping motors output power according to signals transmitted by the electronic control unit; the four stepping motors have step angles B and are subdivided into X;
the harmonic gear reducer 8 is used for reducing the speed and increasing the torque, and the transmission ratio of the harmonic gear reducer is
In the formula z2、z1The numbers of teeth of the rigid gear and the flexible gear are respectively, the symbols in the formula only represent the direction, and the formula is the transmission ratio of the harmonic gear reducer when the rigid gear is fixed, the wave generator drives and the flexible gear drives; the output end of the harmonic gear reducer 8 is connected with a gear 12 with the modulus of m and the number of teeth of z, the stepping motor 7 and the harmonic gear reducer 8 are arranged in a motor shell, the gear 12 is arranged on the outer side of the motor shell 13, and the motor shell 13 is arranged on the frame 2 by adopting a fixing bolt 18;
a T-shaped slide rail 21 is processed on the frame 2, the bottom of a rack 9 in the gear rack transmission pair is of a T-shaped structure matched with the T-shaped slide rail, the rack 9 is installed in the T-shaped slide rail of the frame and can slide freely in the T-shaped slide rail, and the T-shaped slide rail structure can be directly utilized to play a role in limiting and keeping, so that other auxiliary devices (see figure 5) are avoided being installed; the rack 9 is meshed with the gear 12, and the rack 9 is driven by the gear 12 to slide along the T-shaped slideway; a rolling device 13 is arranged at the end part (the end close to the wheel) of the rack 9; the rolling body 131 of the rolling device is arranged on the raceway 14, the raceway 14 is fixed on the inner side of the wheel hub through the raceway fixing frame 15, and when the wheel 11 rotates, the rolling body 131 continuously rolls in the raceway, so that the rack and the wheel can roll relatively, and the distance between the rack and the wheel can be kept (see fig. 2 and 4).
After the power of the engine is transmitted to a differential mechanism of a drive axle, the power is transmitted to wheels 11 through a left half shaft 1 and a right half shaft 1; the half shafts comprise an inner half shaft 1a connected with a drive axle differential mechanism and an outer half shaft 1b connected with the inner half shaft through a universal joint; the outer half shaft 1b adopts a telescopic spline type transmission shaft, the outer half shaft arranges the outer spline part at the inner side, the shaft where the inner spline is arranged at the outer side, and the outer surface of the inner spline shaft is required to be obliquely provided with a return spring 10 for automatic return; one end of the return spring 10 is connected with the outer half shaft, and the other end of the return spring is fixed on a spherical support 16 coated outside the universal joint; after the wheel track is adjusted, the wheel can automatically return under the action of the return spring (see figure 3).
The invention also provides a method for regulating and controlling the wheel track by adopting the regulating system capable of automatically and quantitatively regulating the wheel track of the automobile, which specifically comprises the following steps:
step S1, during the running process of the automobile, the ultrasonic detector arranged on the automobile frame detects the distance d from the automobile to the front obstacle or the turning position and transmits the distance d to the electronic control unit; meanwhile, the speed sensor monitors the speed v in real time, and transmits the monitored speed v to the electronic control unit, and when a driver needs to change the wheel track in order to adapt to the driving environment, the driver inputs the wheel track variation delta L1 and delta L2 of the front and rear wheels through a display screen in the automobile;
step S2, the electronic control unit calculates according to the distance d transmitted by the ultrasonic detector, the speed v transmitted by the speed sensor, the wheel track variation delta L1 and delta L2 input by the display screen and the preset safe time t' (the preset value can be enough for reducing the psychological pressure of the driver) in the preset model block, and simultaneously controls the stepping motors driving the left front wheel and the right front wheel or the stepping motors driving the left rear wheel and the right rear wheel according to the calculation condition;
the ECU calculates the number of pulses required by the stepping motor in the time (t-t') through the following formula:
in the formula, Δ L is the input wheel track change value of the front wheel or the rear wheel, z2、z1Respectively the number of teeth of a rigid gear and a flexible gear in the harmonic gear reducer, wherein m is a gear module, z is the number of teeth of the gear, B is a stepping angle of the stepping motor, and X is subdivision of the stepping motor;
because the stepping motor has the advantages of large torque, small inertia and high response frequency and has the superior characteristics of instant starting and rapid stopping, different frequency conversion effects of the motor can be determined according to actual conditions;
if the fixed frequency pulse is adopted, the method is obtained according to the following formula:
in the formula, Δ L is the input wheel track variation of the front wheel or the rear wheel, B is the step angle of the stepping motor, X is the subdivision of the stepping motor, m is the gear module, z is the gear tooth number, and t is the wheel track variation time (t ═ d/v);
if the frequency conversion mode of the stepping motor is applied, a uniform acceleration and uniform deceleration method is adopted, and the acceleration of the change of the pulse frequency is as follows:
and step S3, the electronic control unit processes the signals and transmits the control signals to the stepping motor, the power of the stepping motor is output to the gear through the coupler and the harmonic gear reducer, the rotary motion is converted into linear motion through the gear-rack transmission pair, the linear motion is transmitted to the wheel through the rolling device, the telescopic spline half shaft connected with the wheel changes along with the change of the wheel track while transmitting the power, and the adjustment of the wheel track variation is completed.
In addition, the invention can also directly input the distance d from the automobile to the front obstacle or the turning position expected by the driver and the wheel track variation quantity delta L1 and delta L2 of the front wheel and the rear wheel expected to be changed by the driver through the display screen 5 in the automobile, the electronic control unit calculates according to the distance d input by the display screen 5, the wheel track variation quantity delta L1 and delta L2 of the front wheel and the rear wheel, the speed v transmitted by the speed sensor and the set safe time t', and controls the stepping motor according to the calculation condition; the electronic control unit performs calculation based on the distance input by the driver when the driver inputs the desired distance, and performs calculation using the distance detected by the ultrasonic detector when the driver does not input the desired distance.
Claims (5)
1. An adjusting system capable of automatically and quantitatively adjusting the wheel track of an automobile is characterized by comprising a half shaft with a telescopic spline pair, an ultrasonic detector and a speed sensor which are arranged on a frame in front of the automobile, a display screen arranged in the automobile, an electronic control unit electrically connected with the display screen, four stepping motors connected with the electronic control unit, a harmonic gear reducer, a gear-rack transmission pair, a rolling device and a return device; the half shaft is connected with the wheels by a rolling device and is used for changing the distance between the two wheels;
the ultrasonic detector is used for detecting the distance d from the automobile to a front obstacle or a turning position and transmitting the distance d to the electronic control unit;
the speed sensor is used for monitoring the speed v of the automobile in real time and transmitting the speed v to the electronic control unit;
the display screen is used for respectively inputting wheel track variation quantities delta L1 and delta L2 of a front wheel and a rear wheel which are expected to be changed by a driver and transmitting data to the electronic control unit; meanwhile, the driver can directly input the expected distance d in the process of changing the wheel track through the display screen;
the electronic control unit comprises a preset module and a calculation module, wherein the preset module is used for storing the set safe time t'; the calculation module is used for calculating the distance d transmitted by the ultrasonic detector or the distance d input by the display screen, the speed v transmitted by the speed sensor, the wheel track variation quantity delta L1 and delta L2 of the front wheel and the rear wheel input by the display screen and the set safe time t', and controlling the four stepping motors according to the calculated condition; when the electronic control unit controls the stepping motors to act, the stepping motors driving the left front wheel and the right front wheel or the stepping motors driving the left rear wheel and the right rear wheel are controlled simultaneously to achieve the expected wheel track variation;
the four stepping motors are respectively arranged on the frame close to the wheels, the output ends of the four stepping motors are connected with the harmonic gear reducer by adopting couplers, and the stepping motors output power according to signals transmitted by the electronic control unit; the four stepping motors have step angles B and are subdivided into X;
the harmonic gear reducer is used for reducing speed and increasing torque and has the transmission ratio of
In the formula z2、z1The numbers of teeth of the rigid gear and the flexible gear are respectively, the symbols in the formula only represent the direction, and the formula is the transmission ratio of the harmonic gear reducer when the rigid gear is fixed, the wave generator drives and the flexible gear drives; the output end of the harmonic gear reducer is connected with a gear with the modulus of m and the tooth number of z;
the rack-and-pinion transmission pair comprises a gear and a rack, a T-shaped slideway is processed on the frame, the bottom of the rack is of a T-shaped structure matched with the T-shaped slideway, and the rack is installed in the T-shaped slideway of the frame and can slide freely in the T-shaped slideway; the rack is meshed with the gear and is driven to slide along the T-shaped slide way through the gear; a rolling device is arranged at the end part of the rack; the rolling bodies on the rolling device are arranged on the roller path;
the rolling way is fixed on the inner side of the wheel hub through the rolling way fixing frame, and when the wheel rotates, the rolling body continuously rolls in the rolling way.
2. The adjusting system capable of automatically and quantitatively adjusting the wheel track of the automobile as claimed in claim 1, wherein the half shafts comprise an inner half shaft, an outer half shaft connected with the inner half shaft through a universal joint; the outer half shaft adopts a telescopic spline type transmission shaft, the outer half shaft arranges the outer spline part at the inner side, the shaft where the inner spline is arranged at the outer side, and the outer surface of the inner spline shaft is obliquely provided with a return device; one end of the return device is connected with the outer surface of the inner spline shaft, and the other end of the return device is fixed on the frame or the universal joint support.
3. The system of claim 1, wherein the step motor and the harmonic gear reducer are disposed in a motor housing, the gear is mounted on the outside of the motor housing, and the motor housing is mounted on the frame by a fixing bolt.
4. The method for adjusting the track width by using the system for automatically and quantitatively adjusting the wheel width of the automobile as claimed in claim 1 is characterized by comprising the following steps of:
step S1, during the running process of the automobile, the ultrasonic detector arranged on the automobile frame detects the distance d from the automobile to the front obstacle or the turning position and transmits the distance d to the electronic control unit; meanwhile, the speed sensor monitors the speed v in real time, and transmits the monitored speed v to the electronic control unit, and when a driver needs to change the wheel track in order to adapt to the driving environment, the driver inputs the wheel track variation delta L1 and delta L2 of the front and rear wheels through a display screen in the automobile;
step S2, the electronic control unit calculates according to the distance d transmitted by the ultrasonic detector, the speed v transmitted by the speed sensor, the wheel track variation delta L1 and delta L2 input by the display screen and the preset safe time t' in the preset model block, and simultaneously controls the stepping motors driving the left front wheel and the right front wheel or the stepping motors driving the left rear wheel and the right rear wheel according to the calculation condition;
the electronic control unit calculates the number of pulses required by the stepping motor in the time (t-t') through the following formula:
in the formula, Δ L is the input wheel track change value of the front wheel or the rear wheel, z2、z1Respectively the tooth number of a rigid gear and a flexible gear in the harmonic gear reducer, wherein m is a gear module, z is the tooth number of the gear, B is a step angle of a stepping motor, X is subdivision of the stepping motor, t is wheel pitch change time, and t is d/v;
if the fixed frequency pulse is adopted, the method is obtained according to the following formula:
if the frequency conversion mode of the stepping motor is applied, a uniform acceleration and uniform deceleration method is adopted, and the acceleration of the change of the pulse frequency is as follows:
and step S3, the electronic control unit processes the signals and transmits the control signals to the stepping motor, the power of the stepping motor is output to the gear through the coupler and the harmonic gear reducer, the rotary motion is converted into linear motion through the gear-rack transmission pair, the linear motion is transmitted to the wheel through the rolling device, the telescopic spline half shaft connected with the wheel changes along with the change of the wheel track while transmitting the power, and the adjustment of the wheel track variation is completed.
5. The method for adjusting the track width by using the system for automatically and quantitatively adjusting the wheel width of the automobile as claimed in claim 1 is characterized by comprising the following steps of:
step S1, in the process of moving, a speed sensor arranged on a vehicle frame monitors the vehicle speed v in real time, the monitored speed v is transmitted to an electronic control unit, and when a driver needs to change the wheel track to adapt to the driving environment, the driver inputs the expected distance d from the vehicle to a front obstacle or a turning position and the wheel track variation quantity delta L1 and delta L2 of front wheels and rear wheels which are expected to be changed by the driver through a display screen in the vehicle;
step S2, the electronic control unit calculates according to the distance d input by the display screen 5, the speed v transmitted by the speed sensor, the wheel track variation delta L1 and delta L2 input by the display screen and the preset safe time t' in the preset module, and simultaneously controls the stepping motors driving the left front wheel and the right front wheel or the stepping motors driving the left rear wheel and the right rear wheel according to the calculation condition;
the electronic control unit calculates the number of pulses required by the stepping motor in the time (t-t') through the following formula:
in the formula, Δ L is the input wheel track change value of the front wheel or the rear wheel, z2、z1Respectively the number of teeth of a rigid gear and a flexible gear in the harmonic gear reducer, and m is the gear moduleZ is the tooth number of the gear, B is the step angle of the stepping motor, X is the subdivision of the stepping motor, t is the wheel track change time, and t is d/v;
if the fixed frequency pulse is adopted, the method is obtained according to the following formula:
if the frequency conversion mode of the stepping motor is applied, a uniform acceleration and uniform deceleration method is adopted, and the acceleration of the change of the pulse frequency is as follows:
and step S3, the electronic control unit processes the signals and transmits the control signals to the stepping motor, the power of the stepping motor is output to the gear through the coupler and the harmonic gear reducer, the rotary motion is converted into linear motion through the gear-rack transmission pair, the linear motion is transmitted to the wheel through the rolling device, the telescopic spline half shaft connected with the wheel changes along with the change of the wheel track while transmitting the power, and the adjustment of the wheel track variation is completed.
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| CN109515065B true CN109515065B (en) | 2020-05-12 |
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Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6139045A (en) * | 1997-02-25 | 2000-10-31 | Land O' Lakes, Inc. | Wheel assembly having a mechanism to adjust the distance between the wheels |
| ITGE20040047A1 (en) * | 2004-05-26 | 2004-08-26 | Bargam S P A | Axle for agricultural machinery |
| EP2050423A1 (en) * | 2007-07-16 | 2009-04-22 | Fundacion Tekniker | Wheelchair |
| DE102007053906A1 (en) * | 2007-11-09 | 2009-05-14 | Herbert Dammann Gmbh | Chassis for special vehicles |
| CN101857048B (en) * | 2010-06-02 | 2011-11-16 | 山东五征集团有限公司 | Vehicle drive axle with adjustable wheel track and ground clearance |
| ITMO20110048A1 (en) * | 2011-03-03 | 2012-09-04 | C M C S R L Societa Unipersonal E | SELF-PROPELLED OPERATING MACHINE WITH VARIABLE DRAWN AXLE |
| BE1022411B1 (en) * | 2014-12-18 | 2016-03-24 | Cnh Industrial Belgium Nv | ASH FOR A HARVESTER |
| CN204506350U (en) * | 2015-03-17 | 2015-07-29 | 周泓宇 | Lateral wheel is apart from telescopic devices |
| CN205220853U (en) * | 2015-11-27 | 2016-05-11 | 江苏省交通科学研究院有限公司 | Radar four -wheel adjusting device |
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