WO2008128379A1 - Systèmes de direction de suspension indépendants - Google Patents

Systèmes de direction de suspension indépendants Download PDF

Info

Publication number
WO2008128379A1
WO2008128379A1 PCT/CN2007/001292 CN2007001292W WO2008128379A1 WO 2008128379 A1 WO2008128379 A1 WO 2008128379A1 CN 2007001292 W CN2007001292 W CN 2007001292W WO 2008128379 A1 WO2008128379 A1 WO 2008128379A1
Authority
WO
WIPO (PCT)
Prior art keywords
wheel
control arm
steering
motor
rotational shaft
Prior art date
Application number
PCT/CN2007/001292
Other languages
English (en)
Inventor
Yangsheng Xu
Huihuan Qian
Guoqing Xu
Chenggang Xia
Hong Tong
Tiande Mo
Zhiru Liu
Weimin Li
Zhancheng Wang
Ka Keung Caramon Lee
Bufu Huang
Weizhong Ye
Tin Lun Lam
Xinyu Wu
Zhi Zhong
Wing Kwong Chung
Original Assignee
The Chinese University Of Hong Kong
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by The Chinese University Of Hong Kong filed Critical The Chinese University Of Hong Kong
Priority to PCT/CN2007/001292 priority Critical patent/WO2008128379A1/fr
Priority to PCT/CN2008/000729 priority patent/WO2008128421A1/fr
Priority to CN2008800082112A priority patent/CN101631711B/zh
Publication of WO2008128379A1 publication Critical patent/WO2008128379A1/fr
Priority to HK10103157.1A priority patent/HK1137971A1/xx

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D7/00—Steering linkage; Stub axles or their mountings
    • B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
    • B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
    • 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
    • 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
    • B62D5/0418—Electric motor acting on road wheel carriers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D7/00—Steering linkage; Stub axles or their mountings
    • B62D7/18—Steering knuckles; King pins

Definitions

  • This invention relates to a steering system, particularly to an independent suspension steering system used in an omni-directional vehicle with in-wheel motors.
  • the steering angle of mass production commercial vehicles is usually between ⁇ 35°. Due to the limitation of the steering angle, it is not easy to park or turn a vehicle in a compact room.
  • US Patent No. 6,561,307 discloses a steer-by-wire steering system for an independent suspension as shown in Figure 1.
  • An independent suspension steering system 10 includes a frame 12 to which an upper control arm 14 and a lower control arm 16 are connected at the first connections 18 and 18'.
  • An intermediate suspension member 20 is connected to the upper control arm 14 and the lower control arm 16 at the second connections 22 and 22'.
  • the member 20 moves upwards and downwards by means of the upper control arm 14 and the lower control arm 16 and is constrained from moving forward and aft.
  • the member 20 supports a steer knuckle 24 at the third connections 26 and 26' that define a king pin axis A.
  • the knuckle 24 includes a spindle 28 supporting a wheel 30.
  • a motor 32 is mounted on the member 20 to rotate the knuckle 24 relative to the member 20.
  • a controller 46 is connected to the motor 32 as well as the motors in the other three wheels (outer wheels 42).
  • a steering sensor 50 is connected to the controller 46 to sense a steering signal corresponding to a desired steering angle from a steering device 48. The controller 46 receives the steering signal and generates a command signal corresponding to the received steering signal. The command signal is sent to the motors 32 to steer the wheel 30.
  • the present invention provides an independent suspension steering system used in an omni-directional vehicle with in-wheel motors which realizes a -90° -+90° large-steering-angle without needing any interference between the wheel and the control arms so that a vehicle may be easily parked or turned in a compact room.
  • an independent suspension steering system for a vehicle which comprises rotational shaft; wheel carrier; n upper control arm and a lower control arm, one end of the upper control arm and one end of the lower control arm being connected to opposite ends of the rotational shaft, respectively, at a pair of first connections, and another end of the upper control arm and another end of the lower control arm being connected to the wheel carrier, respectively, at a pair of second connections; and an in wheel motor mounted to the wheel carrier, wherein an axis of the in wheel motor is fixed at a wheel to support the wheel; herein the pair of the first connections defines a steering axis around which the rotational shaft rotates to drive the upper control arm, the lower control arm, and the wheel carrier to rotate as a whole, so as to in turn drive the in-wheel motor to steer the wheel.
  • the independent suspension steering system as provided in the present invention can realize a -90° -+90° large-steering-angle without needing any interference between the wheel and the control arms.
  • FIG. 1 schematically shows a known independent suspension steering system
  • FIG. 2 schematically shows the mechanical outline of an independent suspension steering system according to the present invention
  • Figs. 3A-3Q are the result drawings of a vehicle equipped with the independent suspension steering system as shown in Fig. 2;
  • Figs 4A-4H show the different steering angles of the vehicle with the independent suspension steering system according to the present invention.
  • FIG. 2 it illustrates an independent suspension steering system 100 of the present invention used in an omni-directional vehicle with in- wheel motors.
  • the independent suspension steering system 100 includes an wheel carrier 99 to which an upper control arm 50 and a lower control arm 60 are connected at a pair of the second connections 21 and 21', respectively.
  • the second connections 21 and 21' define a king pin axis 102 for defining a motion trace of a wheel.
  • the opposite ends of the upper control arm 50 and the lower control arm 60 are connected with an upper end and a lower end of a rotational shaft 90, respectively, at a pair of the first connections 20 and 20'.
  • the first connections 20 and 20' further define a steering axis 101.
  • the steering axis 101 and the king pin axis 102 is separated from each other, thus the length of control arms and the alignment parameters of the wheel can be considered independently.
  • control arms and the wheel carrier can be turned as a whole.
  • the rotational shaft 90 is able to rotate about the steering axis 101 but is constrained from being movable upwards and downwards in the direction along the vehicle body.
  • the wheel carrier 99 is mounted to an axis of an in wheel motor 40, namely the stator of the in wheel motor 40 is mounted to the wheel carrier 99, to allow the rotation of the in wheel motor and prevent the in wheel motor 40 to move along the direction of its axis.
  • the in wheel motor 40 is also mounted into a wheel 111 to support the wheel 111 in order to steer the wheel 111.
  • a steering motor 11 is provided to be coupled to the rotational shaft 90 through a throttle valve.
  • the throttle valve such as the worm gear box 10 but not limited driven by the steering motor 11 is connected to the rotational shaft 90 by a key, so that the output shaft of the gear box and the rotational shaft are concentric.
  • the steering motor 11 is first activated to drive the shaft 90 to rotate about the steering axis 101 through the worm gear box 10.
  • the rotation of the shaft 90 is transmitted to the wheel carrier 99 through the upper control arm 50 and the lower control arm 60 to drive the in wheel motor 40 via the wheel carrier so that the wheel 111 is steered at a desired steering angle.
  • the in wheel motor 40, the wheel carrier 99 and the control arms 50 and 60 rotate as a whole In this way, there is no necessity to introduce any interference between the wheel and the control arms.
  • the outer housing of the steering motor 11 is fixed on that of the throttle valve, and the outer housing of the throttle valve is mounted to the body frame 12.
  • the steering motor 11 is mounted on a body frame 12, rather than in the limited space between the upper control arm and the lower control arm. With this arrangement, the unsprung mass may not be increased. Thus, omni directional turning may be easily realized.
  • the independent suspension steering system of the present invention allows the control arms 50 and 60, the in wheel motor 40 and the wheel carrier 99 to turn as a whole, so the vehicle employing this independent suspension steering system can easily achieve omni directional turning.
  • a damper 70 the upper end of the rotational shaft 90, the right end of the upper control arm 50 are connected at the connection 20, while the opposite end of the damper 70, the left end of the upper control arm 50 and the wheel carrier 99 are connected at the connection 21'.
  • the rotational shaft and the body frame 12 of the vehicle body are mounted by bearings to allow rotation of rotational shaft 90 in the vehicle body.
  • a brake 31 is mounted to the out-frame 99.
  • a brake disk is mounted to the rotational part of the motor 40 by screws.
  • Fig. 2 schematically shows only one wheel 111.
  • the steering system 100 also includes an independent suspension steering system for the other wheels 222, 333, and 444 with the same steering mechanism as that of the wheel 111.
  • a controller In general, to steer a vehicle, a controller is needed.
  • Fig. 2 shows a controller 15 connected to the motor 11 of each of wheels 111, 222, 333 and 444. Similar to the prior art, a steering signal sensed by a sensor 16 from the steering device 17 is input into the controller 15. A command signal corresponding to the steering signal will be transferred to each of the motor 11 to steer each of wheels 111, 222, 333 and/or 444.
  • the left front and the right rear wheels can have a steering range of -45 degrees to +90 degrees and the right front and the left rear wheels can have a steering range of -90 degrees to +45 degrees.
  • the vehicle can take any point on the 2-dimensional motion plane as the instantaneous rotational center (ICR).
  • Figs. 3A-3Q exemplify 17 motion modes of an omni-directional vehicle equipped with the independent suspension steering system according to the present invention.
  • the arrow on each wheel indicates the direction of the wheel.
  • Figs. 3A-3D show four pure translations including directions of forward, lateral right, right forward and left forward, respectively. In these four motion modes, each of the wheels has an identical steering angle and an identical speed. It can be easily understood that the pure translations of backward, lateral left, left backward and right backward can be achieved by the reverse of the direction of each wheel.
  • a small-radius turning with ICRs to the left of the vehicle and a small-radius turning to the right of the vehicle are illustrated, respectively.
  • the two rear wheels are steered towards the direction opposite to the two front wheels.
  • FIGs. 3G-3H two rotations about the ICRs in the front of and at the rear of the vehicle are illustrated, respectively.
  • Figs. 31 a zero-radius turning with the ICR in the vehicle body is illustrated.
  • Figs 4A-4H show the different steering angles of the vehicle with the independent suspension steering system according to the present invention.
  • Figs. 4A-4B show the steering angle of -45 degree.
  • the steering motor 11 when receiving a steering command of turning -45 degree, the steering motor 11 is activated to startup the gearbox 10.
  • the gearbox 10 drives the rotational shaft 90 to clockwise rotate about the steering axis 101.
  • the shaft 90 in turn drive the upper control arms 50 and 60 as well as the wheel carrier 99.
  • the wheel carrier 99 then drives the in wheel motor 40 to steer the left wheel 111 to turn 45 degree clockwisely.
  • Figs. 4C-4D show, with the help of the independent suspension steering system of the present invention, the steering angle of the wheel 111 may be steered at 0 degree. It can also be seen from Figs.
  • the left wheel 111 may turn 90 degree clockwise, and the steering angle of the left wheel 111 is +45 degree seen from Figs. 4G-4H.
  • the turning represented in Figs. 4C-4H is similar as those in Figs. 4A-4B. Their description is omitted.

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Vehicle Body Suspensions (AREA)
  • Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
  • Power Steering Mechanism (AREA)

Abstract

L'invention concerne un système de direction de suspension indépendant (100) conçu pour un véhicule, qui comprend: un arbre tournant (90), un porte-roue (99); un bras de commande supérieur (50) et un bras de commande inférieur (60), une extrémité du bras de commande supérieur (50) et une extrémité du bras de commande inférieur (60) qui sont reliés aux extrémités opposées de l'arbre tournant (90), respectivement, au niveau d'une paire de premières connexions (20, 20'), et une autre extrémité du bras de commande supérieur (50) et une autre extrémité du bras de commande inférieur (60) qui sont reliées au porte-roue (99); et un moteur-roue (40) monté sur le porte-roue (99); la paire des premières connexions (20, 20') définit un axe de direction (101) autour duquel l'arbre tournant tourne pour entraîner le bras de commande supérieur (50), le bras de commande inférieur (60), et le porte-roue (99) de façon à tourner en tant qu'ensemble. Le système de direction de suspension indépendant (100) peut obtenir un grand angle de braquage de -90° - +90° sans aucune interférence entre la roue et les bras de commande.
PCT/CN2007/001292 2007-04-19 2007-04-19 Systèmes de direction de suspension indépendants WO2008128379A1 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
PCT/CN2007/001292 WO2008128379A1 (fr) 2007-04-19 2007-04-19 Systèmes de direction de suspension indépendants
PCT/CN2008/000729 WO2008128421A1 (fr) 2007-04-19 2008-04-10 Système de direction de suspension indépendant
CN2008800082112A CN101631711B (zh) 2007-04-19 2008-04-10 独立悬挂转向***
HK10103157.1A HK1137971A1 (en) 2007-04-19 2010-03-26 An independent suspension steering system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2007/001292 WO2008128379A1 (fr) 2007-04-19 2007-04-19 Systèmes de direction de suspension indépendants

Publications (1)

Publication Number Publication Date
WO2008128379A1 true WO2008128379A1 (fr) 2008-10-30

Family

ID=39875042

Family Applications (2)

Application Number Title Priority Date Filing Date
PCT/CN2007/001292 WO2008128379A1 (fr) 2007-04-19 2007-04-19 Systèmes de direction de suspension indépendants
PCT/CN2008/000729 WO2008128421A1 (fr) 2007-04-19 2008-04-10 Système de direction de suspension indépendant

Family Applications After (1)

Application Number Title Priority Date Filing Date
PCT/CN2008/000729 WO2008128421A1 (fr) 2007-04-19 2008-04-10 Système de direction de suspension indépendant

Country Status (3)

Country Link
CN (1) CN101631711B (fr)
HK (1) HK1137971A1 (fr)
WO (2) WO2008128379A1 (fr)

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE202014004853U1 (de) 2014-03-25 2014-07-16 Thyssenkrupp Presta Ag Lenkvorrichtung
WO2015000892A1 (fr) * 2013-07-02 2015-01-08 Cnh Industrial Belgium Nv Ensemble d'essieu destiné à un véhicule doté d'un système de double charnière de cheville d'attelage
KR20160138173A (ko) * 2014-04-01 2016-12-02 센젠 즈룬 드라이빙 테크놀러지 포 일렉트릭 비이클 컴퍼니 리미티드 전기 자동차
EP3162664A4 (fr) * 2014-06-27 2017-08-02 NTN Corporation Véhicule
CN108945082A (zh) * 2018-09-05 2018-12-07 中信戴卡股份有限公司 一种汽车转向控制***、汽车及控制方法
CN110816658A (zh) * 2019-08-02 2020-02-21 中国第一汽车股份有限公司 一种直驱式轮毂电机车辆的前悬架***
EP3486142A4 (fr) * 2016-01-05 2020-06-24 Li, Mu Système de changement de direction à 360 degrés de type à disque et roue autonome
EP3967575A1 (fr) * 2020-09-09 2022-03-16 Hyundai Mobis Co., Ltd. Dispositif de direction de roue d'entraînement indépendant et module d'entrainement indépendant le comprenant
EP4183665A1 (fr) * 2021-11-23 2023-05-24 Hyundai Mobis Co., Ltd. Appareil de module de coin pour un véhicule

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CN101973307B (zh) * 2010-10-19 2013-01-23 吉林大学 主销零偏置线控独立驱动与转向的汽车行走机构及电动车
CN102837733B (zh) * 2012-09-18 2015-05-20 上海中科深江电动车辆有限公司 独立转向装置
US8903580B2 (en) * 2012-11-14 2014-12-02 GM Global Technology Operations LLC Hybrid vehicle with dynamically-allocated high-voltage electrical power
CN110497957B (zh) * 2018-05-17 2021-03-19 莫天德 转向装置
TWI790411B (zh) * 2019-11-22 2023-01-21 財團法人工業技術研究院 轉向裝置及方法
KR20220137738A (ko) * 2020-11-07 2022-10-12 컨템포러리 엠퍼렉스 테크놀로지 씨오., 리미티드 조향 기구, 차량, 조향 기구의 제조 장치 및 방법
JP2023152384A (ja) * 2022-04-04 2023-10-17 株式会社デンソー 転舵制御装置

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JP2000033809A (ja) * 1998-07-17 2000-02-02 Mitsubishi Motors Corp 独立懸架装置
US6561307B1 (en) * 2001-12-28 2003-05-13 Meritor Heavy Vehicle Technology, Llc Independent suspension steering system
CN2761449Y (zh) * 2004-12-23 2006-03-01 比亚迪股份有限公司 双横臂摇杆式独立悬架
CN2808629Y (zh) * 2005-07-26 2006-08-23 罗平 补偿摆臂式汽车独立悬架

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CN2710999Y (zh) * 2004-07-29 2005-07-20 上海燃料电池汽车动力***有限公司 万向节传动双横臂独立转向装置

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US5348111A (en) * 1989-06-08 1994-09-20 Group Lotus Plc Wheeled vehicle steering system
JP2000033809A (ja) * 1998-07-17 2000-02-02 Mitsubishi Motors Corp 独立懸架装置
US6561307B1 (en) * 2001-12-28 2003-05-13 Meritor Heavy Vehicle Technology, Llc Independent suspension steering system
CN2761449Y (zh) * 2004-12-23 2006-03-01 比亚迪股份有限公司 双横臂摇杆式独立悬架
CN2808629Y (zh) * 2005-07-26 2006-08-23 罗平 补偿摆臂式汽车独立悬架

Cited By (23)

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Publication number Priority date Publication date Assignee Title
US9555830B2 (en) 2013-07-02 2017-01-31 Cnh Industrial America Llc Axle assembly for a vehicle with a double kingpin hinge arrangement
WO2015000892A1 (fr) * 2013-07-02 2015-01-08 Cnh Industrial Belgium Nv Ensemble d'essieu destiné à un véhicule doté d'un système de double charnière de cheville d'attelage
BE1021160B1 (nl) * 2013-07-02 2018-08-02 Cnh Industrial Belgium Nv Asgeheel voor een voertuig met stuurinrichting met dubbel scharnier.
DE102014004231A1 (de) 2014-03-25 2015-10-01 Thyssenkrupp Presta Ag Lenkvorrichtung
WO2015144482A1 (fr) 2014-03-25 2015-10-01 Thyssenkrupp Presta Ag Système de direction
DE202014004853U1 (de) 2014-03-25 2014-07-16 Thyssenkrupp Presta Ag Lenkvorrichtung
DE102014004231B4 (de) 2014-03-25 2019-07-18 Thyssenkrupp Presta Ag Lenkvorrichtung
KR20160138173A (ko) * 2014-04-01 2016-12-02 센젠 즈룬 드라이빙 테크놀러지 포 일렉트릭 비이클 컴퍼니 리미티드 전기 자동차
CN106715189A (zh) * 2014-04-01 2017-05-24 深圳市智轮电动车驱动技术有限公司 一种电动汽车
EP3127743A4 (fr) * 2014-04-01 2018-05-09 Shenzhen Zhilun Driving Technology for Electric Vehicle Co., Ltd. Véhicule électrique
CN106715189B (zh) * 2014-04-01 2019-07-02 广东华旵智动行运***研究院有限公司 一种电动汽车
KR102247781B1 (ko) 2014-04-01 2021-05-04 광동 후안 리서치 인스티튜트 오브 인텔리전트 트랜스포테이션 시스템 컴퍼니 리미티드 전기 자동차
EP3162664A4 (fr) * 2014-06-27 2017-08-02 NTN Corporation Véhicule
US10501117B2 (en) 2014-06-27 2019-12-10 Ntn Corporation Vehicle
EP3486142A4 (fr) * 2016-01-05 2020-06-24 Li, Mu Système de changement de direction à 360 degrés de type à disque et roue autonome
CN108945082A (zh) * 2018-09-05 2018-12-07 中信戴卡股份有限公司 一种汽车转向控制***、汽车及控制方法
EP3620349A1 (fr) * 2018-09-05 2020-03-11 Citic Dicastal Co., Ltd. Système de commande de direction de véhicule, véhicule et procédé de commande
CN110816658B (zh) * 2019-08-02 2020-10-16 中国第一汽车股份有限公司 一种直驱式轮毂电机车辆的前悬架***
CN110816658A (zh) * 2019-08-02 2020-02-21 中国第一汽车股份有限公司 一种直驱式轮毂电机车辆的前悬架***
EP3967575A1 (fr) * 2020-09-09 2022-03-16 Hyundai Mobis Co., Ltd. Dispositif de direction de roue d'entraînement indépendant et module d'entrainement indépendant le comprenant
CN114228829A (zh) * 2020-09-09 2022-03-25 现代摩比斯株式会社 独立驱动轮的转向装置及包括其的独立驱动模块
CN114228829B (zh) * 2020-09-09 2023-11-07 现代摩比斯株式会社 独立驱动轮的转向装置及包括其的独立驱动模块
EP4183665A1 (fr) * 2021-11-23 2023-05-24 Hyundai Mobis Co., Ltd. Appareil de module de coin pour un véhicule

Also Published As

Publication number Publication date
HK1137971A1 (en) 2010-08-13
CN101631711A (zh) 2010-01-20
WO2008128421A1 (fr) 2008-10-30
CN101631711B (zh) 2012-08-15

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