JP6725761B2 - 自動車、及びホイールステアリングシステム - Google Patents
自動車、及びホイールステアリングシステム Download PDFInfo
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- JP6725761B2 JP6725761B2 JP2019526357A JP2019526357A JP6725761B2 JP 6725761 B2 JP6725761 B2 JP 6725761B2 JP 2019526357 A JP2019526357 A JP 2019526357A JP 2019526357 A JP2019526357 A JP 2019526357A JP 6725761 B2 JP6725761 B2 JP 6725761B2
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- JP
- Japan
- Prior art keywords
- steering
- wheel
- steered wheels
- steering system
- slewing bearing
- Prior art date
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-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/001—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits the torque NOT being among the input parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
- B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
- B62D7/15—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels
- B62D7/1509—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels with different steering modes, e.g. crab-steering, or steering specially adapted for reversing of the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/34—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles
- B60K17/354—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles having separate mechanical assemblies for transmitting drive to the front or to the rear wheels or set of wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/34—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles
- B60K17/356—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles having fluid or electric motor, for driving one or more wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/34—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles
- B60K17/358—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles all driven wheels being steerable
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/021—Determination of steering angle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D3/00—Steering gears
- B62D3/02—Steering gears mechanical
- B62D3/04—Steering gears mechanical of worm type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/001—Mechanical components or aspects of steer-by-wire systems, not otherwise provided for in this maingroup
-
- 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
-
- 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
- B62D5/0421—Electric motor acting on or near steering gear
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/02—Steering linkage; Stub axles or their mountings for pivoted bogies
- B62D7/026—Steering linkage; Stub axles or their mountings for pivoted bogies characterised by comprising more than one bogie, e.g. situated in more than one plane transversal to the longitudinal centre line of the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D9/00—Steering deflectable wheels not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/0475—Controlling other elements
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
- Power Steering Mechanism (AREA)
- Gear Transmission (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Steering Controls (AREA)
- Toys (AREA)
Description
転舵輪に設置されるステアリング装置と、信号実行装置と、舵角制御装置とを含み、
前記ステアリング装置は、旋回ベアリングを介してシャーシに回動可能に接続されるホイールサポートを含み、前記ホイールサポートの底部が前記転舵輪の回転軸の両端に回動可能に接続され、前記ホイールサポートは、前記旋回ベアリングにより前記転舵輪を360度旋回させることができ、
前記信号実行装置は、前記旋回ベアリングによる前記転舵輪の旋回する角度を制御するためのものであり、
前記舵角制御装置は、前記信号実行装置に舵角の電子信号を送信する複数の往復型スイッチロータを含む。
11: ロックアーム
12: 電磁石
2: ホイールサポート
3: ハンドル
31: ステアリングシャフト
32: 接触子
4: 同期電動機
5: 中空油圧緩衝器
6: ウォーム
7: ホイール
8: シャーシ
9: スイッチロータ
91: 金属接触片
Claims (9)
- ホイールステアリングシステムであって、
転舵輪に設置されるステアリング装置と、信号実行装置と、舵角制御装置とを含み、
前記ステアリング装置は、旋回ベアリング(1)を介してシャーシ(8)に回動可能に接続されるホイールサポート(2)を含み、前記ホイールサポート(2)の底部が前記転舵輪の回転軸の両端に回動可能に接続され、前記ホイールサポート(2)は、前記旋回ベアリング(1)により前記転舵輪を360度旋回させることができ、
前記信号実行装置は、前記旋回ベアリング(1)による前記転舵輪の旋回する角度を制御するためのものであり、
前記舵角制御装置は、前記信号実行装置に舵角の電子信号を送信する複数の往復型スイッチロータ(9)を含み、
前記舵角制御装置は、ハンドル(3)と、ステアリングシャフト(31)とをさらに含み、前記スイッチロータ(9)が、前記ステアリングシャフト(31)の底部に円弧状に配列され、前記ステアリングシャフト(31)に接触子(32)が設置され、前記ハンドル(3)と前記ステアリングシャフト(31)とが回転されると、前記接触子(32)に前記スイッチロータ(9)を往復トグルさせることを特徴とするホイールステアリングシステム。 - 前記信号実行装置はPLCプログラマーであり、前記転舵輪のそれぞれに一体型ハブモータが設置され、前記ホイールサポート(2)の頂部と前記旋回ベアリング(1)との中央に貫通孔が設置されることを特徴とする請求項1に記載のホイールステアリングシステム。
- 前記舵角制御装置は走行方向コントローラーをさらに含み、前記PLCプログラマーは、予め設定された角度に従って各前記転舵輪を予め設定された位置に旋回させるように制御することを特徴とする請求項2に記載のホイールステアリングシステム。
- 前記旋回ベアリング(1)に外歯が設置され、前記旋回ベアリング(1)は同期電動機(4)により、直接に駆動され、またはウォーム(6)を駆動して前記旋回ベアリング(1)の外歯と係合させて駆動回転されることを特徴とする請求項1〜3のいずれかに記載のホイールステアリングシステム。
- 前記旋回ベアリング(1)の外歯の数は192歯であり、前記同期電動機(4)の出力端ギヤの歯数は16歯であり、前記舵角制御装置における前記スイッチロータ(9)の数は24個であることを特徴とする請求項4に記載のホイールステアリングシステム。
- 前記舵角制御装置は、ロックアーム(11)をさらに含み、前記ロックアーム(11)の一端に前記旋回ベアリング(1)と噛み合うロック歯が設置され、前記ロックアーム(11)は電磁石(12)により揺動が制御されることを特徴とする請求項4に記載のホイールステアリングシステム。
- 前記ロックアーム(11)におけるロック歯が設置される一端はバネにより前記旋回ベアリング(1)に圧着されて噛み合い、他端が前記電磁石(12)により吸着され前記ロックアーム(11)を、中心に設置された回転軸周りに揺動させることを特徴とする請求項6に記載のホイールステアリングシステム。
- 前記スイッチロータ(9)に金属接触片(91)が設置され、接触子(32)は前記金属接触片(91)により前記スイッチロータ(9)をトグルし、前記接触子(32)が前記金属接触片(91)と接することで前記電磁石(12)に通電させることを特徴とする請求項6に記載のホイールステアリングシステム。
- 請求項1〜8のいずれか一項に記載のホイールステアリングシステムを含み、各ホイールは転舵輪であり、前記転舵輪のそれぞれに一つの前記舵角制御装置が設置され、前記旋回ベアリング(1)は中空油圧緩衝器(5)を介してシャーシ(8)に接続されることを特徴とする自動車。
Applications Claiming Priority (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201610658384.5A CN106043426B (zh) | 2016-08-11 | 2016-08-11 | 一种汽车及车轮转向*** |
CN201620870402.1U CN205872174U (zh) | 2016-08-11 | 2016-08-11 | 一种汽车及车轮转向*** |
CN201610658384.5 | 2016-08-11 | ||
CN201620870402.1 | 2016-08-11 | ||
PCT/CN2017/095804 WO2018028495A1 (zh) | 2016-08-11 | 2017-08-03 | 一种汽车及车轮转向*** |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2019527651A JP2019527651A (ja) | 2019-10-03 |
JP6725761B2 true JP6725761B2 (ja) | 2020-07-22 |
Family
ID=61161575
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2019526357A Active JP6725761B2 (ja) | 2016-08-11 | 2017-08-03 | 自動車、及びホイールステアリングシステム |
Country Status (5)
Country | Link |
---|---|
US (1) | US11305814B2 (ja) |
EP (1) | EP3483037B1 (ja) |
JP (1) | JP6725761B2 (ja) |
HR (1) | HRP20210651T1 (ja) |
WO (1) | WO2018028495A1 (ja) |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10946740B2 (en) * | 2018-02-06 | 2021-03-16 | Panasonic Automotive Systems Company Of America, Division Of Panasonic Corporation Of North America | Central control hub for semi-autonomous electric vehicles |
DE102019109995A1 (de) * | 2019-04-16 | 2020-10-22 | Hubtex Maschinenbau Gmbh & Co. Kg | Lenkverfahren und Lenksystem für ein Flurförderzeug |
CN112238896B (zh) * | 2019-07-18 | 2021-10-22 | 上海燧方智能科技有限公司 | 车用转向方法、***、行驶机构的转向方法及行驶机构 |
CN112622603B (zh) * | 2020-12-30 | 2022-06-07 | 徐工集团工程机械股份有限公司 | 一种四轮独立驱动轮架可调姿车辆综合驱动*** |
CN113359455B (zh) * | 2021-06-16 | 2022-12-02 | 江铃汽车股份有限公司 | 汽车转向***建模方法 |
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JPS56131462A (en) | 1980-03-15 | 1981-10-15 | Agency Of Ind Science & Technol | Steering control device for all-direction movable car |
JPS6231576U (ja) * | 1985-08-12 | 1987-02-25 | ||
SE502702C2 (sv) | 1991-12-18 | 1995-12-11 | Abb Truck Ab | Servostyrsystem för fordon |
DE4303342A1 (de) * | 1993-02-05 | 1994-08-11 | Baumann R & Co | Lenkvorrichtung für ein Fahrzeug |
JP3500900B2 (ja) | 1997-03-28 | 2004-02-23 | 日産自動車株式会社 | 操舵角検出装置 |
US6505695B2 (en) * | 2001-05-18 | 2003-01-14 | Kanazawa Institute Of Technology | Electric vehicle |
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JP2008222333A (ja) | 2007-03-09 | 2008-09-25 | Nakanishi Metal Works Co Ltd | 位置決めピンを用いた位置決め装置 |
WO2008138346A1 (en) * | 2007-05-10 | 2008-11-20 | Aarhus Universitet | Omni rotational driving and steering wheel |
WO2011088037A2 (en) * | 2010-01-14 | 2011-07-21 | Boomerang Systems, Inc. | Slewing ring drive |
EP2414212B1 (en) * | 2010-05-28 | 2012-08-22 | John Victor Gano | Omni-directional wheel assembly and omni-directional vehicle |
JP2015512821A (ja) * | 2012-02-27 | 2015-04-30 | ビクター ガノ,ジョン | 独立可変多車輪ステアリングと道路接触幾何学との統合システム |
CN102653246B (zh) | 2012-04-17 | 2014-11-12 | 华南农业大学 | 一种四轮驱动高地隙移动小车及其控制方法 |
CN202987262U (zh) | 2012-10-11 | 2013-06-12 | 吉林大学 | 一种具有多转向模式的四轮独立线控转向*** |
CN103569197B (zh) | 2013-11-12 | 2015-08-26 | 安徽工程大学 | 四轮转向***及其控制方法 |
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NZ749531A (en) * | 2016-06-17 | 2020-06-26 | Univ Sydney | Drive module |
CN205872174U (zh) * | 2016-08-11 | 2017-01-11 | 杭州天爵舞台工程有限公司 | 一种汽车及车轮转向*** |
CN106043426B (zh) * | 2016-08-11 | 2018-12-28 | 杭州天爵舞台工程有限公司 | 一种汽车及车轮转向*** |
-
2017
- 2017-08-03 WO PCT/CN2017/095804 patent/WO2018028495A1/zh unknown
- 2017-08-03 JP JP2019526357A patent/JP6725761B2/ja active Active
- 2017-08-03 US US16/321,835 patent/US11305814B2/en active Active
- 2017-08-03 EP EP17838625.6A patent/EP3483037B1/en active Active
-
2021
- 2021-04-26 HR HRP20210651TT patent/HRP20210651T1/hr unknown
Also Published As
Publication number | Publication date |
---|---|
US20190168806A1 (en) | 2019-06-06 |
EP3483037A1 (en) | 2019-05-15 |
EP3483037A4 (en) | 2020-04-22 |
JP2019527651A (ja) | 2019-10-03 |
WO2018028495A1 (zh) | 2018-02-15 |
HRP20210651T1 (hr) | 2021-05-28 |
US11305814B2 (en) | 2022-04-19 |
EP3483037B1 (en) | 2021-04-07 |
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