CN114537513A - Steering device for hub motor, angle unit, traveling device and electric vehicle - Google Patents
Steering device for hub motor, angle unit, traveling device and electric vehicle Download PDFInfo
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- CN114537513A CN114537513A CN202210192867.6A CN202210192867A CN114537513A CN 114537513 A CN114537513 A CN 114537513A CN 202210192867 A CN202210192867 A CN 202210192867A CN 114537513 A CN114537513 A CN 114537513A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0418—Electric motor acting on road wheel carriers
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
- Power Steering Mechanism (AREA)
- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
Abstract
The invention provides a steering device, an angle unit, a traveling device and an electric vehicle for a hub motor, and belongs to the field of power and auxiliary driving of vehicles. The invention comprises a steering arm assembly and a steering driving assembly, wherein the steering arm assembly comprises a frame connecting part positioned at the upper end and a lower swing arm connecting part positioned at the lower end, the frame connecting part is used for connecting a frame corresponding to a hub motor, and the lower swing arm connecting part is used for connecting a lower swing arm of a suspension corresponding to the hub motor; the steering driving assembly drives the steering arm assembly to enable the hub motor to rotate around a vertical rotating line, the steering driving assembly is located on one side, away from the hub, of the hub motor, and the lower end of the steering driving assembly is lower than the highest position of a wheel where the hub motor is located. The invention omits a structure for driving and steering between the steering device and the lower swing arm of the suspension, can ensure that the chassis is pure flat, reduces the height and the mass center of the load carried by the chassis, and improves the utilization rate of the space above the chassis.
Description
Technical Field
The invention relates to the field of vehicle power and auxiliary drive application, in particular to a steering device, an angle unit, a walking device and an electric vehicle for a hub motor.
Background
The wheel hub motor is arranged on a wheel, and a power system, a transmission system and a brake system of the vehicle can be integrated together by using the wheel hub motor, so that the space utilization condition is improved. The wheel and the hub motor can be combined to be applied to equipment with walking requirements, such as an electric automobile.
Among the present electric automobile based on in-wheel motor, a steering system is including being used for providing the drive power that turns to the wheel and turning to the drive assembly, turn to the drive assembly including turning to motor setting and speed reducer, turn to the drive assembly setting directly over the wheel, be equipped with on the chassis and dodge the bellied structure that makes progress of installation space for turning to motor setting and speed reducer, carry the thing above the chassis, carry people and need dodge this bellied structure(s) when arranging the interior trim, space utilization has been reduced, and lead to the barycenter height of goods, the risk of tumbling has been increased.
Disclosure of Invention
The invention provides a steering device, an angle unit, a walking device and an electric vehicle for a hub motor, and aims to solve the problems of low chassis space utilization rate and high tipping risk during cargo carrying caused by avoidance of a steering driving assembly.
The invention provides a steering device for a hub motor, which comprises a steering arm assembly and a steering driving assembly, wherein the steering arm assembly comprises a frame connecting part positioned at the upper end and a lower swing arm connecting part positioned at the lower end, the frame connecting part is used for connecting a frame corresponding to the hub motor, and the lower swing arm connecting part is used for connecting a lower swing arm of a suspension corresponding to the hub motor;
the steering driving assembly drives the steering arm assembly to enable the hub motor to rotate around a vertical rotating line, the upper end of the steering driving assembly is connected with the steering arm assembly, and the steering driving assembly is located on one side, away from the hub, of the hub motor.
Optionally, the steering arm assembly includes:
a steering arm structure including the lower swing arm connecting portion;
a transmission mechanism mounted on the steering arm structure;
the rotating shaft is arranged on the transmission mechanism, the axis of the rotating shaft is the vertical rotating line, and the rotating shaft comprises the frame connecting part;
the steering driving assembly drives the transmission mechanism or the rotating shaft to enable the steering arm structure and the hub motor to rotate around the vertical rotating line.
Optionally, the steering arm structure includes steering arm and upper cover, steering arm with at least one of upper cover is total including having the open-ended cavity portion, the steering arm with the upper cover is in the opening part lid of cavity portion closes in order to form the installation cavity, place in the drive mechanism in the installation cavity, the pivot is worn to establish the installation cavity.
Optionally, one side of the cavity of the steering arm extends downward to form a steering arm main body, and the lower end of the steering arm main body is the lower swing arm connecting part;
the steering arm body comprises at least one side arm extending downward from the cavity portion to the lower swing arm connecting portion;
the steering arm main body further comprises a transverse reinforcing rib, and the transverse reinforcing rib is transversely arranged on the side arm.
Optionally, the transmission mechanism includes a first gear, an idler gear and a second gear, the first gear is connected to the second gear through the idler gear, the first gear and the idler gear are respectively rotatably connected to the steering arm structure, and the second gear is fixedly connected to the rotating shaft; the steering driving assembly drives the first gear to rotate so that the first gear, the idler wheel, the steering arm structure and the hub motor rotate around the vertical rotation line together.
Optionally, an installation cavity in which the transmission mechanism is arranged is formed at the upper end of the steering arm structure;
the steering arm assembly further comprises a first gear installation shaft fixedly connected with the first gear, the first gear installation shaft is rotatably connected with the steering arm structure, and the output end of the steering driving assembly is fixedly connected with the first gear installation shaft;
the steering arm assembly further comprises a first bearing, the first gear mounting shaft is connected with the steering arm structure through the first bearing, and the upper side and the lower side of the first gear are respectively provided with the first bearing;
the steering arm structure is provided with a connecting hole which is opposite to the first gear mounting shaft, the steering arm assembly further comprises a first gear end cover arranged at the upper end of the mounting cavity, and the first gear end cover is in sealing connection with the steering arm structure at the connecting hole;
a first gear adjusting gasket is arranged between the first gear end cover and the first bearing;
the steering arm assembly further comprises an idler wheel mounting shaft fixedly connected with the idler wheel, and the idler wheel mounting shaft is rotationally connected with the steering arm structure;
the steering arm assembly further comprises an idler bearing for connecting the idler mounting shaft and the steering arm structure;
the steering arm assembly further comprises a rotation angle sensor and a spacer bush, wherein the rotation angle sensor is arranged outside the steering arm, the spacer bush is mounted on the idle wheel mounting shaft and is connected with the idle wheel mounting shaft through the spacer bush for the sensor.
Optionally, an installation cavity in which the transmission mechanism is arranged is formed at the upper end of the steering arm structure;
the rotating shaft penetrates through the second gear and is installed in the installation cavity through a locking nut and a locking gasket;
the steering arm assembly further comprises a rotating shaft bearing, the rotating shaft is connected with the steering arm structure through the rotating shaft bearing, the upper side and the lower side of the second gear are respectively provided with the rotating shaft bearing, and the rotating shaft bearing and the second gear are supported through a bearing spacer bush;
the steering arm assembly further comprises a second gear end cover arranged at the lower end of the mounting cavity, and the second gear end cover is in sealing connection with the steering arm structure at the mounting hole.
Optionally, the steering device is arranged to control the steering angle of the in-wheel motor to be 90 °.
The invention also provides an angle unit for an in-wheel motor, the angle unit comprising a suspension and a steering device as described in any one of the above;
the suspension comprises a lower swing arm assembly, the lower swing arm assembly comprises a lower swing arm, one end of the lower swing arm is rotatably connected with the lower swing arm connecting portion, and the other end of the lower swing arm is arranged to be relatively fixed with a shell of the in-wheel motor.
Optionally, the steering arm assembly further includes an upper limit structure for restricting a maximum angle of the lower swing arm swinging upward relative to the steering arm assembly;
the upper limiting structure comprises a limiting support and a limiting block, the two ends of the limiting support are respectively fixedly connected with the steering arm assembly and the limiting block, and the lower swing arm swings to the maximum angle when the end part of the limiting block abuts against the limiting support.
Optionally, the suspension is a single trailing arm type, and the lower swing arm is used as a single trailing arm of the suspension; alternatively, the first and second electrodes may be,
the suspension is a double trailing arm type, and the lower swing arm is used as a lower trailing arm of the suspension; alternatively, the first and second electrodes may be,
the suspension is of a double-cross arm type, and the lower swing arm is used as a lower cross arm of the suspension.
Optionally, the steering device further includes a steering knuckle mounted on the in-wheel motor, and the lower trailing arm assembly is fixed to the in-wheel motor through the steering knuckle;
the suspension further comprises a shock absorber, and two ends of the shock absorber are respectively connected with the steering arm assembly and the steering knuckle;
the angle unit further includes a brake device including a brake disc fixed to the in-wheel motor and a brake caliper mounted on the knuckle.
The present invention also provides a running gear, comprising:
the frame is provided with a front wheel and a rear wheel,
the wheel units are provided with hub motors and connected to the frame;
the corner unit of any one of the preceding claims, at least one of said wheel units being connected to said frame via said corner unit.
Optionally, two wheel units are respectively distributed on two sides of the frame, wherein:
the walking device is of a four-wheel drive type, and the four wheel units are respectively provided with one steering device; or the walking device is of a two-drive type, and the two wheel units on the front side or the two wheel units on the rear side of the frame are respectively provided with one steering device.
Optionally, the walking device further comprises a chassis, and the chassis is detachably connected with the frame.
The invention also provides an electric vehicle which comprises a vehicle body and the running gear, wherein the vehicle body is arranged on the running gear.
According to the steering device, the angle unit, the walking device and the electric vehicle for the hub motor, the steering arm assembly is arranged in an inverted mode, namely the lower end of the steering arm assembly is connected with the lower swing arm, the upper end of the steering arm assembly is connected with the frame, and the steering driving assembly is laterally arranged on one side of the hub motor, so that a special space for the steering driving assembly is not required to be reserved above wheels, the upper end of the steering arm assembly can be arranged to be flat, the upper spaces of the frame and the chassis of a system (such as the walking device and the electric vehicle) where the hub motor is located are not occupied, the frame and the chassis can be arranged to be flat, the space for carrying people or goods in the vehicle body is enlarged and becomes regular, the utilization rate of the upper space of the chassis is improved, the height and the mass center of goods carried on the chassis are reduced, and the convenience for carrying people and goods is improved.
According to the invention, the lower swing arm connecting part is connected with the lower swing arm of the suspension, the frame connecting part is connected with the frame, and the steering driving assembly is used for driving the hub motor to rotate, so that the steering function of the wheel and the function of the suspension are integrated near the hub motor, a transmission steering mechanism is not required to be arranged between the steering device and the lower swing arm, and the space is saved.
Meanwhile, the angle units can be integrally assembled on the walking device, the requirements of the walking device on the wheel track and the wheel base can be met by changing the arrangement positions of the angle units, the angle units provided in the following embodiments can be selected for the walking devices of the same series and different models, the walking devices of different series and even the walking devices of different varieties, and the angle units with different parameters can be selected to match the requirements of the walking devices when necessary.
When all wheels of the walking device adopt the angle units, each wheel can be flexibly and independently controlled, and the modes of front wheel steering, rear wheel steering, four-wheel steering, pivot steering and transverse running are realized.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is an exploded view of a steering apparatus according to an embodiment of the present invention;
FIG. 2 is a schematic view showing the internal structure of a steering device in the embodiment of the present invention;
FIG. 3 is a schematic structural view of a corner unit in an assembled state according to an embodiment of the present invention;
fig. 4 is an exploded view of a corner unit in an embodiment of the present invention.
Description of reference numerals:
1-steering arm assembly
11-steering arm structure
111-steering arm
1111-cavity part
1112-steering arm body
11121-side arm
11122 transverse reinforcing rib
1113 lower swing arm connecting part
112-upper cover
1121-connecting hole
1122-mounting ring
113-fastening element
12-Transmission mechanism
121-first gear
122-second gear
123-idler
13-rotating shaft
131-frame connection
14-first Gear mounting shaft
15-first bearing
16-first gear end cover
17-first gear adjusting shim
18-idler mounting shaft
19-idler bearing
10-rotation angle sensor
101-spacer for sensor
102-lock nut
103-locking washer
104-rotating shaft bearing
Spacer for 105-bearing
106-oil seal
107-second gear end cap
108-upper limiting structure
1081-spacing support
1082-stopper
2-steering drive assembly
21-steering motor
22-steering speed reducer
3-knuckle
4-lower swing arm assembly
41-lower swing arm
42-T type sleeve
43-positioning pin
5-shock absorber
6-shock absorber support
7-braking device
71 brake disc
72-brake caliper
8-hub motor
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terms "first" and "second" in the description and claims of the present invention and the above-described drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The technical solution of the present invention will be described in detail below with specific examples. In the following several embodiments, the same or similar concepts or processes may not be described in detail in some embodiments.
Before discussing the details, the following embodiments will briefly describe the relationship between the steering device, the angle unit, the running gear and the electric vehicle for the in-wheel motor:
one of the functions of the steering device is to achieve steering of a wheel provided with an in-wheel motor, and the angle unit, the detection system associated with the in-wheel motor and the wheel provided with the in-wheel motor can be application scenarios of the steering device. The angle unit integrates the steering device and the suspension together to realize independent steering of the wheels; one of application scenes of the angle units is that the angle units can be integrally assembled on the walking device, the requirements of the walking device on the wheel track and the wheel base can be met by changing the arrangement positions of the angle units, the angle units provided in the following embodiments can be selected for the walking devices of the same series and different models, the walking devices of different series and even the walking devices of different types, and the angle units with different parameters can be selected to match the requirements of the walking device when necessary. The walking device can be used independently, and can also be combined with other components to form new equipment to be applied to the fields of vehicles, carrying equipment, logistics and the like, and the electric automobile is one of application scenes. The following discusses in detail the solutions of the steering device, the angle unit, the running gear and the electric vehicle in connection with the figures.
Referring to fig. 1 and 2, an embodiment of the present invention provides a steering apparatus for an in-wheel motor, where the in-wheel motor 8 is mounted on a wheel and is used to drive the wheel to rotate, an outer layer of the in-wheel motor 8 is covered with a housing, a stator and a rotor are arranged in the housing, the rotor is used to drive the wheel to rotate, and the stator and the housing do not rotate. The steering device is connected with a shell of the in-wheel motor 8 and used for driving the in-wheel motor 8 to rotate so as to adjust the movement direction of the wheel, and therefore steering of the wheel and a system (such as an angle unit, a walking device and an electric vehicle) where the wheel is located is achieved.
The steering device comprises a steering arm assembly 1, the steering arm assembly 1 comprises a frame connecting part 131 located at the upper end and a lower swing arm connecting part 1113 located at the lower end, the frame connecting part 131 is used for connecting a frame corresponding to the in-wheel motor 8, and the lower swing arm connecting part 1113 is used for connecting a lower swing arm 41 of a suspension corresponding to the in-wheel motor 8. The function of the lower swing arm 41 is to transfer the force between the wheel and the frame, i.e. here between the in-wheel motor 8 and the steering gear. The lower swing arm connecting portion 1113 can drive the lower swing arm 41 to rotate when rotating, so as to drive the hub motor 8 to rotate, and further realize the steering of the wheel.
The steering device further comprises a steering driving assembly 2, the steering driving assembly 2 is connected with a steering arm assembly 1, the steering driving assembly 2 drives the steering arm assembly 1 to enable the hub motor 8 to rotate around a vertical rotating line, the upper end of the steering driving assembly 2 is connected with the steering arm assembly 1, the steering driving assembly 2 is located on one side, away from the hub, of the hub motor 8, namely located on the inner side of a wheel of the walking device, the steering driving assembly 2 is set to be lower than the highest position of the wheel where the hub motor 8 is located at the lower end of the steering driving assembly, and therefore the space of the side face of the hub motor 8 is utilized and the height of the steering device is reduced.
In practical application, a driver inputs a signal through an operating mechanism (such as a steering wheel), the signal is converted to generate steering information and then is sent to the steering driving assembly 2, and the steering driving assembly 2 drives the steering arm assembly 1 according to the steering information, so that the hub motor 8 rotates to a proper angle or returns to a right angle.
As can be seen from the above information, in this embodiment, the lower swing arm connection part 1113 is connected to the lower swing arm 41 of the suspension, the frame connection part 131 is connected to the frame, and the steering drive assembly 2 is used to drive the in-wheel motor 8 to rotate, so that the steering function of the wheel and the function of the suspension are integrated near the in-wheel motor 8, and a transmission steering mechanism is not required between the steering device and the lower swing arm 41, thereby saving space. Because the steering arm assembly 1 is of an inverted type, namely the lower end of the steering arm assembly is connected with the lower swing arm 41, the upper end of the steering arm assembly is connected with the frame, and the side of the steering drive assembly 2 is arranged on one side of the hub motor 8, the steering drive assembly 2 can be set to be in a condition that the lower end of the steering drive assembly 2 is lower than the highest position of a wheel on which the hub motor 8 is arranged in specific application, a special space for the steering drive assembly 2 is not required to be reserved above the wheel, and the height of the steering arm assembly 1 is reduced; and avoided because of turning to the local convex condition that upwards of top that the drive assembly 2 leads to turning to the device, thereby the upper end that turns to arm assembly 1 can set up comparatively level and smooth, do not occupy the upper portion space on frame and the chassis of 8 systems (like running gear, electric vehicle) in wheel hub motor, can make frame and chassis set up to pure level, not only the space grow that carries people or year thing in the automobile body altogether also becomes the rule in, the utilization ratio of chassis upper portion space has been improved, reduce the height and the barycenter of carrying the thing on the chassis, the manned has been promoted, the convenience of carrying the thing.
The steering driving assembly 2 comprises a steering motor 21 and a steering speed reducer 22, the steering motor 21 is connected with the steering arm assembly 1 through the steering speed reducer 22, and the steering speed reducer 22 adopts a planetary speed reducer.
The steering device is set to control the steering angle of the hub motor 8 to be 90 degrees, namely, the wheel can rotate 90 degrees leftwards or rightwards, the steering angle of the wheel can be flexibly controlled, and the transverse movement of the vehicle can be realized.
The steering arm assembly 1 may be shaped in a factory shape as a whole. As will be understood in conjunction with the corner unit shown in fig. 3, in the present embodiment, the laterally extending portion of the upper portion of the steering arm assembly 1 is partially located directly above the wheel on which the in-wheel motor 8 is located, and the other portion of the steering arm assembly 1 is located on the side of the in-wheel motor 8 facing away from the wheel hub, while in other embodiments, the steering arm assembly 1 may be entirely disposed on the side of the in-wheel motor 8 facing away from the wheel hub as an alternative.
The steering arm assembly 1 includes a steering arm structure 11, a transmission mechanism 12 and a rotating shaft 13. The steering arm structure 11 includes a lower swing arm connecting portion 1113. The transmission mechanism 12 is respectively connected with the steering arm structure 11 and the rotating shaft 13 and is used for converting the motion output by the steering driving assembly 2 into the motion of the steering arm assembly 1 and further into the motion of the in-wheel motor 8; during operation of the transmission mechanism 12, a part of the structure rotates together with the steering arm structure 11 around the vertical rotation line, and a part of the structure and the rotating shaft 13 are kept relatively static. The axis of the rotating shaft 13 is a vertical rotating line, and the rotating shaft 13 is rotatably connected with the steering arm structure 11. The pivot 13 includes frame connecting portion 131, and frame connecting portion 131 is located the upper end of pivot 13, and also install on the frame when pivot 13 is installed on steering arm structure 11, and pivot 13 and frame can adopt fixed connection or rotate the mode of connecting and realize, and when pivot 13 and frame rotate the connection, the ascending displacement degree of freedom in pivot 13 upper and lower direction is retrained on the frame to make rotating device can not break away from the frame. The specific connection mode of the rotating shaft 13 and the vehicle frame can be determined by combining the motion relationship among the steering driving assembly 2, the rotating shaft 13 and the transmission mechanism 12.
In this embodiment, the steering driving assembly 2 is connected to the transmission mechanism 12, and when the steering driving assembly 2 drives the transmission mechanism 12, the steering driving assembly 2, a part of the transmission mechanism 12, the steering arm structure 11, and the hub motor 8 rotate together around the rotating shaft 13, so as to achieve steering of the wheel. In other embodiments, the steering driving assembly 2 may be connected coaxially with the rotating shaft 13, and the steering driving assembly 2 drives the rotating shaft 13 to move, so that the partial structure of the transmission mechanism 12, the steering arm structure 11 and the hub motor 8 rotate around the rotating shaft 13, and at this time, the steering driving assembly 2 is located above the rotating shaft 13 or below the rotating shaft 13.
The steering arm structure 11 includes a steering arm 111 and an upper cover 112, at least one of the steering arm 111 and the upper cover 112 includes a cavity portion 1111 having an opening, and the cavity portion 1111 is a structure having a space for accommodating other objects. Steering arm 111 and upper cover 112 cover at the opening part of cavity portion 1111 and close in order to form the installation cavity, place the installation cavity in drive mechanism 12, and the installation cavity is worn to establish by pivot 13, places the installation cavity in the part, and frame connection portion 131 is located the part that stretches out the installation cavity of pivot 13 to in connecting the frame.
In this embodiment, the upper end of the steering arm 111 and the upper cover 112 are each provided with a cavity 1111, and the openings of the two cavities 1111 are formed in a shape and a size corresponding to each other so that they can be covered together, but in other embodiments, the cavity 1111 may be provided only at one of the upper end of the steering arm 111 and the upper cover 112 as an alternative.
In practice, the upper end of the steering arm 111 and the upper cover 112 are also fixed by connecting fasteners 113 (such as bolts and nuts), and referring to the corner unit of fig. 3, the fasteners 113 are distributed around the periphery of the upper cover 112, and the head of the fastener 113 sinks below the upper surface of the upper cover 112, which provides convenience for mounting the components on the upper cover 112. The mounting cavity provides mounting space, mechanical protection, and waterproof and dustproof functions for the transmission mechanism 12.
It can be known from the above information that, in this embodiment, the upper end of the steering arm 111 and the upper cover 112 form an installation cavity, and the transmission mechanism 12 is integrated in the installation cavity, so that not only is the protection effect on the transmission mechanism 12 improved, but also the upper end face of the steering arm structure 11 can be further ensured to be relatively flat, and therefore, the chassis or the vehicle body can be ensured to be flat.
The steering arm 111 further includes a steering arm main body 1112, and the steering arm main body 1112 is formed by extending downward from one side of a cavity portion 1111 of the steering arm 111, as shown in fig. 1 and 2, in this embodiment, the steering arm main body 1112 is connected to one side of the cavity portion 1111, which is farther from the hub motor 8, and the steering driving assembly 2 is located between the steering arm main body 1112 and the hub motor 8, so as to better utilize the space between the rotating arm main body and the hub motor 8, so that the structure of the steering apparatus is more compact, and the occupied space is small.
The lower end of the steering arm main body 1112 is a lower swing arm connecting portion 1113, in this embodiment, the lower swing arm connecting portion 1113 has a columnar structure having a through hole for rotatably connecting to the lower swing arm 41 of the suspension, and in other embodiments, the structural form of the lower swing arm connecting portion 1113 is not limited as long as the lower swing arm 41 can be rotatably connected.
The steering arm main body 1112 comprises at least one side arm 11121, the side arm 11121 extends downwards from the cavity portion 1111 to the lower swing arm connecting portion 1113, and the connection of the side arm 11121 and the lower swing arm connecting portion 1113 enhances the mechanical performance of the steering arm main body 1112. The steering arm body 1112 further includes a transverse stiffener 11122, the transverse stiffener 11122 being transverse to the side arm 11121. In this embodiment, the steering arm main body 1112 has two side arms 11121, the two side arms 11121 extend from the cavity 1111 to the lower swing arm connecting portion 1113 obliquely downward, and the two side arms 11121 are connected by a transverse reinforcing rib 11122 therebetween, so as to ensure that the steering arm main body 1112 occupies a small space while having better rigidity and strength. Indeed, in other embodiments, the steering arm body 1112 may be provided with only one side arm 11121 or three or more side arms 11121, and the number of the transverse reinforcing ribs 11122 is set according to the mechanical requirements of the steering arm body 1112.
As shown in fig. 1 and fig. 2, in the present embodiment, the transmission mechanism 12 employs a gear set, the gear set includes a first gear 121, an idle gear 123 and a second gear 122, the first gear 121 is connected to the second gear 122 through the idle gear 123, that is, the idle gear 123 is respectively engaged with the first gear 121 and the second gear 122. The first gear 121 and the idle gear 123 are respectively and rotationally connected with the steering arm structure 11, and the second gear 122 is fixedly connected with a rotating shaft 13 fixed on the frame; the steering driving assembly 2 drives the first gearThe wheel 121 rotates the steering drive assembly 2 itself about a vertical rotation line together with the first gear wheel 121, the idler wheel 123, the steering arm structure 11 and the in-wheel motor 8. As shown in FIG. 2, assume that the steering drive assembly 2 drives the first gear 121 along ωFirst gearThe illustrated rotation direction is the direction of rotation ω of idler 123Idler wheelAnd omegaFirst gearIn contrast, the rotation direction ω of the in-wheel motor 8Hub motorRotational direction ω of idler 123Idler pulleyThe same is true.
From the above information, it can be known that the steering device of the present embodiment utilizes the first gear 121, the idler gear 123 and the second gear 122 to realize the rotation function of the steering arm 111 and the in-wheel motor 8, and when in application, gear sets with different parameters can be matched according to the parameter requirements of the system where the wheels are located, so that systems with different models can adopt steering devices with the same structure and different parameters, thereby reducing the research and development cost of the steering device.
The steering arm assembly 1 further comprises a first gear installation shaft 14 which is fixed with the first gear 121 through key connection, the first gear installation shaft 14 is arranged in the installation cavity, the first gear installation shaft 14 is rotatably connected with the steering arm structure 11 to realize relative rotation of the first gear 121 and the steering arm structure 11, and an output end of the steering driving assembly 2 is fixedly connected with the first gear installation shaft 14. It should be noted that, in the course of describing the invention, the first gear mounting shaft 14 is divided into the steering arm assembly 1 in the present embodiment due to the different dividing manners between the components, and it should be understood that, in other dividing manners of the present embodiment, the first gear mounting shaft 14 may be divided into the steering drive assembly 2 and used as the output shaft of the planetary reducer.
The steering arm assembly 1 further includes a first bearing 15, the first gear mounting shaft 14 is connected to the steering arm structure 11 through the first bearing 15, the upper side and the lower side of the first gear 121 are respectively provided with the first bearing 15, that is, the first gear mounting shaft 14 and the upper side and the lower side of the first gear 121 are both connected to the steering arm structure 11, so as to improve the stability of the first gear mounting shaft 14 and the first gear 121. In the present embodiment, the first bearing 15 located above the first gear 121 is connected to the upper cover 112, and the first bearing 15 located below the first gear 121 is connected to the steering arm 111.
The steering arm structure 11 has a connection hole 1121 opposite to the first gear mounting shaft 14, and the connection hole 1121 is located on the upper cover 112 and can be used for the first gear 121 and/or the first gear mounting shaft 14 to pass through during the assembly process of the steering arm structure. The aperture of the connection hole 1121 may be set larger than the outer diameter of the first gear 121.
The steering arm assembly 1 further includes a first gear end cover 16 disposed at the upper end of the mounting cavity, the first gear end cover 16 is hermetically connected to the steering arm structure 11 at the connection hole 1121, and in practical application, an O-ring may be disposed between the first gear end cover 16 and the connection hole 1121 for sealing.
A first gear adjusting gasket 17 is arranged between the first gear end cover 16 and the first bearing 15 so as to adjust the gap of the first bearing 15, and the number of the first gear adjusting gaskets 17 can be adaptively set according to the installation requirement of the first bearing 15.
The steering arm assembly 1 further includes an idler wheel mounting shaft 18 which is fixed to the idler wheel 123 through a key connection, the idler wheel mounting shaft 18 is disposed in the mounting cavity, and the idler wheel mounting shaft 18 is rotatably connected to the steering arm structure 11, so as to achieve relative rotation between the idler wheel 123 and the steering arm structure 11.
The pitman arm assembly 1 further includes an idler bearing 19 for coupling the idler mounting shaft 18 to the pitman arm structure 11, the idler bearing 19 being utilized to reduce the coefficient of friction between the idler mounting shaft 18 and the pitman arm structure 11. An idler bearing 19 is mounted between the idler mounting shaft 18 and the steering arm.
The steering arm assembly 1 further includes a rotation angle sensor 10 externally attached to the steering arm 111, and a spacer 101 for a sensor mounted on the idler wheel mounting shaft 18, the rotation angle sensor 10 being mounted on the upper cover 112, the rotation angle sensor 10 being connected to the idler wheel mounting shaft 18 via the spacer 101 for a sensor.
The steering arm assembly 1 further includes a lock nut 102 and a lock washer 103, and the rotating shaft 13 is installed in the installation cavity through the lock nut 102 and the lock washer 103 after passing through the second gear 122.
The steering arm assembly 1 further comprises a rotating shaft bearing 104, the rotating shaft 13 is connected with the steering arm structure 11 through the rotating shaft bearing 104, the rotating shaft bearing 104 is respectively arranged on the upper side and the lower side of the second gear 122, namely, the rotating shaft bearing 104 is connected with the steering arm structure 11 on both sides of the second gear 122, so that the stability of the rotating shaft 13 and the second gear 122 is improved, and the reliability of gear set transmission is also ensured. In this embodiment, the two pivot bearings 104 are respectively disposed on the upper cover 112 and the steering arm main body 1112, and in a specific application, the upper cover 112 may partially protrude upward to form a mounting ring 1122 for mounting the pivot bearings 104.
The shaft bearing 104 and the second gear 122 are supported by a bearing spacer 105 to ensure reliability of both. An oil seal 106 may be disposed at the shaft bearing 104 to prevent foreign objects from entering the shaft bearing 104 and to prevent lubricant of the shaft bearing 104 from leaking out.
The steering arm structure 11 is provided with a mounting hole facing the rotating shaft, the mounting hole is arranged on the main upper body of the steering arm and is located on the lower end face of the mounting cavity, and the mounting hole can be used for the second gear 122, the rotating shaft and the rotating shaft bearing 104 to pass through in the assembling process of the steering arm assembly 1.
The steering arm assembly 1 further comprises a second gear end cover 107 arranged at the lower end of the mounting cavity, the second gear end cover 107 is connected with the steering arm structure 11 in a sealing mode at the mounting hole, and in the specific application process, an O-shaped ring can be arranged at the second gear end cover 107 to achieve sealing with the mounting hole.
The steering arm assembly 1 further comprises an upper limit structure 108 for restricting the maximum upward swinging angle of the lower swing arm 41 relative to the steering arm assembly 1, so as to limit the maximum upward swinging angle of the in-wheel motor 8 and the wheel.
The upper limit structure 108 comprises a limit bracket 1081 and a limit block 1082, two ends of the limit bracket 1081 are respectively fixedly connected with the upper steering arm assembly 1 and the limit block 1082, in this embodiment, the limit bracket 1081 is fixed on the steering arm assembly 1, and the limit block 1082 is made of rubber material, so as to weaken the rigid collision between the limit bracket 1081 and the lower swing arm 41. When the lower swing arm 41 swings to abut against the end of the stopper 1082, the lower swing arm 41 swings to a maximum angle.
Referring to fig. 3 and 4, the embodiment of the invention also provides an angle unit for the hub motor 8, wherein the angle unit comprises a suspension and a steering device in any one of the embodiments.
The suspension comprises a lower swing arm assembly 4, the lower swing arm assembly 4 comprises a lower swing arm 41, one end of the lower swing arm 41 is rotatably connected with a lower swing arm connecting part 1113, as shown in fig. 4, the lower swing arm 41 can be connected with the lower swing arm connecting part 1113 through a T-shaped sleeve 42, a bolt and a nut, and the other end of the lower swing arm 41 is arranged to be relatively fixed with a shell of the in-wheel motor 8. The axis that the swing arm assembly 4 and lower swing arm connecting portion 1113 junction rotated down is defined and is the swing axis, and when the wheel was gone on the road surface of unevenness, lower swing arm assembly 4 and wheel hub motor 8 swung around the swing axis to reduce the impact force, improved the travelling comfort of wheel hub place system.
The lower swing arm assembly 4 further comprises a bushing and a hole used flattened wire retainer ring, wherein the bushing is mounted in the lower swing arm 41 and is limited by the hole used flattened wire retainer ring.
In this embodiment, the suspension is a single trailing arm type, and the lower swing arm assembly 4 serves as a single trailing arm of the suspension. The corner unit of the embodiment has the advantages of compact structure, small occupied space and light weight.
As shown in fig. 4, the steering device further includes a steering knuckle 3 mounted on the in-wheel motor 8, the steering knuckle 3 and the housing of the in-wheel motor 8 are configured to be incapable of rotating relatively, and the steering knuckle 3 and the housing can be limited by a milling flat structure to realize the effect of preventing relative rotation. The lower swing arm assembly 4 is fixed on the hub motor 8 through the knuckle 3, and when the lower swing arm assembly is specifically applied, the lower swing arm 41 is positioned with the knuckle 3 through the positioning pin 43 and is fixedly connected with the knuckle 3 through connecting pieces such as bolts.
The suspension further comprises a shock absorber 5, two ends of the shock absorber 5 are respectively connected with the steering arm assembly 1 and the steering knuckle 3, wherein a U-shaped shock absorber support 6 is mounted on the steering arm main body 1112, and the upper end of the shock absorber 5 is rotatably connected with the shock absorber support 6, in other words, the shock absorber 5 is connected with a frame of a system in which the angle unit is located through a rotating device. The lower end of the shock absorber 5 is rotatably connected to the knuckle 3.
The angle unit further comprises a brake device 7, the brake device 7 comprising a brake disc 71 and a brake caliper 72, the brake disc 71 being fixed to the in-wheel motor 8 for rotation with the wheel, the brake caliper 72 being mounted on the knuckle 3. The brake calipers 72 are arranged on opposite sides of the lower swing arm 41 for better space utilization.
The embodiment of the invention provides an angle unit for an in-wheel motor 8, and the angle unit of the embodiment is different from that of the previous embodiment in that: the suspension of this embodiment is a double trailing arm type, the lower swing arm 41 is used as a lower trailing arm of the suspension, and the suspension further includes an upper trailing arm mounted on the in-wheel motor 8, and the upper trailing arm can be implemented by using the prior art, and details thereof are not described. The rest of this embodiment is the same as the previous embodiment.
The embodiment of the invention provides an angle unit for an in-wheel motor, and the angle unit of the embodiment is different from that of the previous embodiment in that: the suspension of this embodiment is of a double wishbone type, with the lower swing arm 41 serving as the lower wishbone of the suspension, and the suspension further including an upper wishbone mounted on the in-wheel motor 8, which can be implemented using conventional technology and will not be described in detail herein. The rest of this embodiment is the same as the previous embodiment.
Embodiments of the present invention provide a walking device, which can be used independently for carrying people and/or objects, such as a transfer robot (also referred to as a transportation robot or a logistics robot), and in other application scenarios, the walking device can also be used as a part of a certain device, such as an automobile.
The running gear comprises a frame, a plurality of wheel units and the corner unit as set forth in any one of the above embodiments.
The frame integrates the wheel units together, and the frame can be formed by fixedly connecting a plurality of beams, or is embodied in a plate form, or adopts a combination of the beams and the plates, or other structures capable of integrating the wheel units.
The wheel units comprise a wheel and a hub motor 8, the wheel units being indirectly connected to the frame, wherein at least one wheel unit is connected to the frame via an angle unit.
In this embodiment, two wheel units are respectively distributed on two sides of the frame, i.e. the running gear is a four-wheel device. The robot can be used for automobiles, trucks, buses and carrying, the embodiment mode can be electric or motor-driven, the operation mode can be controlled by people, and the robot can also be automatically controlled, i.e. unmanned operation, such as unmanned electric cargo platforms and unmanned electric manned platforms.
In this embodiment, each of the four wheel units has a steering device, that is, the traveling device is of a four-wheel drive type, and each wheel can steer independently, so that the traveling device can realize modes of front wheel steering, rear wheel steering, four-wheel steering, pivot steering and transverse traveling.
The running gear also comprises a chassis which is detachably connected with the frame. The transmission system, the running system, the steering system and the control system related to the running gear are directly or indirectly integrated on a chassis, and the upper surface of the chassis can be used for carrying people and/or goods and can also be used for installing other products.
The embodiment of the invention provides a walking device, and the difference between the embodiment and the walking device in the previous embodiment is as follows: the walking device of the embodiment is of a two-drive type, and the wheel units corresponding to the two front wheels are provided with angle units, namely front wheel drive; the other two wheel units in this embodiment are connected to the frame by means of an existing suspension system. Indeed, in other two-wheel drive vehicles, as an alternative, the corner units, i.e. the rear wheel drive, may be mounted on the wheel units corresponding to the two rear wheels, while the wheel units at the front wheel positions are connected to the frame using the existing suspension system.
The embodiment of the invention also provides an electric vehicle which comprises a vehicle body and the walking device provided in any one of the embodiments, wherein the vehicle body is arranged on the walking device, and the vehicle body provides a bearing space or an accommodating space for carrying people or goods.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (16)
1. The steering device for the hub motor is characterized by comprising a steering arm assembly and a steering driving assembly, wherein the steering arm assembly comprises a frame connecting part positioned at the upper end and a lower swing arm connecting part positioned at the lower end, the frame connecting part is used for connecting a frame corresponding to the hub motor, and the lower swing arm connecting part is used for connecting a lower swing arm of a suspension corresponding to the hub motor;
the steering driving assembly drives the steering arm assembly to enable the hub motor to rotate around a vertical rotating line, the upper end of the steering driving assembly is connected with the steering arm assembly, and the steering driving assembly is located on one side, away from the hub, of the hub motor.
2. The steering device of claim 1, wherein the steering arm assembly comprises:
a steering arm structure including the lower swing arm connecting portion;
a transmission mechanism mounted on the steering arm structure;
the rotating shaft is arranged on the transmission mechanism, the axis of the rotating shaft is the vertical rotating line, and the rotating shaft comprises the frame connecting part;
the steering driving assembly drives the transmission mechanism or the rotating shaft to enable the steering arm structure and the hub motor to rotate around the vertical rotating line.
3. The steering device according to claim 2, wherein the steering arm structure comprises a steering arm and an upper cover, at least one of the steering arm and the upper cover comprises a cavity part with an opening, the steering arm and the upper cover the opening of the cavity part to form a mounting cavity, the transmission mechanism is arranged in the mounting cavity, and the rotating shaft penetrates through the mounting cavity.
4. The steering device according to claim 3, wherein one side of the cavity portion of the steering arm extends downward to form a steering arm main body, and the lower end of the steering arm main body is the lower swing arm connecting portion;
the steering arm body comprises at least one side arm extending downward from the cavity portion to the lower swing arm connecting portion;
the steering arm main body further comprises a transverse reinforcing rib, and the transverse reinforcing rib is transversely arranged on the side arm.
5. The steering device according to claim 2, wherein the transmission mechanism comprises a first gear, an idler gear and a second gear, the first gear is connected with the second gear through the idler gear, the first gear and the idler gear are respectively connected with the steering arm structure in a rotating manner, and the second gear is fixedly connected with the rotating shaft; the steering driving assembly drives the first gear to rotate so that the first gear, the idler gear, the steering arm structure and the hub motor rotate together around the vertical rotation line.
6. The steering device according to claim 5, wherein an upper end of the steering arm structure forms a mounting cavity in which the transmission mechanism is built;
the steering arm assembly further comprises a first gear installation shaft fixedly connected with the first gear, the first gear installation shaft is rotatably connected with the steering arm structure, and the output end of the steering drive assembly is fixedly connected with the first gear installation shaft;
the steering arm assembly further comprises a first bearing, the first gear mounting shaft is connected with the steering arm structure through the first bearing, and the upper side and the lower side of the first gear are respectively provided with the first bearing;
the steering arm structure is provided with a connecting hole which is opposite to the first gear mounting shaft, the steering arm assembly further comprises a first gear end cover arranged at the upper end of the mounting cavity, and the first gear end cover is in sealing connection with the steering arm structure at the connecting hole;
a first gear adjusting gasket is arranged between the first gear end cover and the first bearing;
the steering arm assembly further comprises an idler wheel mounting shaft fixedly connected with the idler wheel, and the idler wheel mounting shaft is rotationally connected with the steering arm structure;
the steering arm assembly further comprises an idler bearing for connecting the idler mounting shaft and the steering arm structure;
the steering arm assembly further comprises a rotation angle sensor and a spacer bush, wherein the rotation angle sensor is arranged outside the steering arm, the spacer bush is mounted on the idle wheel mounting shaft and is connected with the idle wheel mounting shaft through the spacer bush for the sensor.
7. The steering device according to claim 5, wherein an upper end of the steering arm structure forms a mounting cavity in which the transmission mechanism is built;
the rotating shaft penetrates through the second gear and is installed in the installation cavity through a locking nut and a locking gasket;
the steering arm assembly further comprises a rotating shaft bearing, the rotating shaft is connected with the steering arm structure through the rotating shaft bearing, the upper side and the lower side of the second gear are respectively provided with the rotating shaft bearing, and the rotating shaft bearing and the second gear are supported through a bearing spacer bush;
the steering arm assembly further comprises a second gear end cover arranged at the lower end of the mounting cavity, and the second gear end cover is in sealing connection with the steering arm structure at the mounting hole.
8. Steering device according to any of claims 1-7, wherein the steering device is arranged to control the steering angle of the in-wheel motor to be 90 °.
9. The angle unit of any one of claims 1-7, wherein the steering arm assembly further comprises an upper limiting structure for limiting a maximum angle of upward swing of the lower swing arm with respect to the steering arm assembly;
the upper limiting structure comprises a limiting support and a limiting block, the two ends of the limiting support are respectively fixedly connected with the steering arm assembly and the limiting block, and the lower swing arm swings to the maximum angle when the end part of the limiting block abuts against the limiting support.
10. A corner unit for an in-wheel motor, characterized in that the corner unit comprises a suspension and a steering device according to any one of claims 1-9;
the suspension comprises a lower swing arm assembly, the lower swing arm assembly comprises a lower swing arm, one end of the lower swing arm is rotatably connected with the lower swing arm connecting portion, and the other end of the lower swing arm is arranged to be relatively fixed with a shell of the in-wheel motor.
11. The corner unit of claim 10, wherein the suspension is a single trailing arm, the lower swing arm serving as a single trailing arm of the suspension; alternatively, the first and second electrodes may be,
the suspension is a double trailing arm type, and the lower swing arm is used as a lower trailing arm of the suspension; alternatively, the first and second electrodes may be,
the suspension is of a double-cross arm type, and the lower swing arm is used as a lower cross arm of the suspension.
12. The angle unit of claim 10, wherein the steering device further comprises a knuckle mounted to the in-wheel motor, the lower trailing arm assembly being secured to the in-wheel motor by the knuckle;
the suspension further comprises a shock absorber, and two ends of the shock absorber are respectively connected with the steering arm assembly and the steering knuckle;
the angle unit further includes a brake device including a brake disc fixed to the in-wheel motor and a brake caliper mounted on the knuckle.
13. A walking device, comprising:
the frame is provided with a front wheel and a rear wheel,
the wheel units are provided with hub motors and connected to the frame;
the corner unit of any one of claims 10 to 12, at least one of said wheel units being connected to said frame via said corner unit.
14. The walking apparatus of claim 13, wherein each of two sides of the frame is divided into two wheel units, wherein:
the walking device is of a four-wheel drive type, and the four wheel units are respectively provided with one steering device; or the walking device is of a two-drive type, and the two wheel units on the front side or the two wheel units on the rear side of the frame are respectively provided with one steering device.
15. The walking device of claim 13, further comprising a chassis removably connected to the frame.
16. An electric vehicle, characterized by comprising a vehicle body and a running gear according to any one of claims 13 to 15, the vehicle body being provided on the running gear.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210192867.6A CN114537513A (en) | 2022-02-28 | 2022-02-28 | Steering device for hub motor, angle unit, traveling device and electric vehicle |
| CN202210711453.XA CN115071812A (en) | 2022-02-28 | 2022-06-22 | Steering arm structure, steering device, angle unit, traveling device, and electric vehicle |
| CN202210713218.6A CN115071813A (en) | 2022-02-28 | 2022-06-22 | Steering device for hub motor, angle unit, traveling device and electric vehicle |
| CN202211549255.4A CN115716501A (en) | 2022-02-28 | 2022-12-05 | Transmission device, steering system and whole vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210192867.6A CN114537513A (en) | 2022-02-28 | 2022-02-28 | Steering device for hub motor, angle unit, traveling device and electric vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114537513A true CN114537513A (en) | 2022-05-27 |
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Family Applications (4)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210192867.6A Pending CN114537513A (en) | 2022-02-28 | 2022-02-28 | Steering device for hub motor, angle unit, traveling device and electric vehicle |
| CN202210711453.XA Pending CN115071812A (en) | 2022-02-28 | 2022-06-22 | Steering arm structure, steering device, angle unit, traveling device, and electric vehicle |
| CN202210713218.6A Pending CN115071813A (en) | 2022-02-28 | 2022-06-22 | Steering device for hub motor, angle unit, traveling device and electric vehicle |
| CN202211549255.4A Pending CN115716501A (en) | 2022-02-28 | 2022-12-05 | Transmission device, steering system and whole vehicle |
Family Applications After (3)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210711453.XA Pending CN115071812A (en) | 2022-02-28 | 2022-06-22 | Steering arm structure, steering device, angle unit, traveling device, and electric vehicle |
| CN202210713218.6A Pending CN115071813A (en) | 2022-02-28 | 2022-06-22 | Steering device for hub motor, angle unit, traveling device and electric vehicle |
| CN202211549255.4A Pending CN115716501A (en) | 2022-02-28 | 2022-12-05 | Transmission device, steering system and whole vehicle |
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| Country | Link |
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| CN (4) | CN114537513A (en) |
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| CN114889722A (en) * | 2022-06-10 | 2022-08-12 | 中国科学院国家天文台 | Mobile system device running on spliced curved surface |
| CN115384609A (en) * | 2022-09-02 | 2022-11-25 | 葵迪智能科技(上海)有限公司 | Steering device, traveling device, and vehicle |
| CN115432059A (en) * | 2022-10-12 | 2022-12-06 | 烟台艾睿光电科技有限公司 | Wheeled robot and chassis assembly thereof |
| CN116022231A (en) * | 2022-12-22 | 2023-04-28 | 吉林大学 | Drive-by-wire steering mechanism applied to slide plate type chassis and control method thereof |
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- 2022-06-22 CN CN202210711453.XA patent/CN115071812A/en active Pending
- 2022-06-22 CN CN202210713218.6A patent/CN115071813A/en active Pending
- 2022-12-05 CN CN202211549255.4A patent/CN115716501A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114889722A (en) * | 2022-06-10 | 2022-08-12 | 中国科学院国家天文台 | Mobile system device running on spliced curved surface |
| CN115384609A (en) * | 2022-09-02 | 2022-11-25 | 葵迪智能科技(上海)有限公司 | Steering device, traveling device, and vehicle |
| CN115432059A (en) * | 2022-10-12 | 2022-12-06 | 烟台艾睿光电科技有限公司 | Wheeled robot and chassis assembly thereof |
| CN116022231A (en) * | 2022-12-22 | 2023-04-28 | 吉林大学 | Drive-by-wire steering mechanism applied to slide plate type chassis and control method thereof |
| CN116022231B (en) * | 2022-12-22 | 2024-06-07 | 吉林大学 | Drive-by-wire steering mechanism applied to slide plate type chassis and control method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115716501A (en) | 2023-02-28 |
| CN115071812A (en) | 2022-09-20 |
| CN115071813A (en) | 2022-09-20 |
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Application publication date: 20220527 |