WO2018028495A1 - 一种汽车及车轮转向*** - Google Patents
一种汽车及车轮转向*** Download PDFInfo
- Publication number
- WO2018028495A1 WO2018028495A1 PCT/CN2017/095804 CN2017095804W WO2018028495A1 WO 2018028495 A1 WO2018028495 A1 WO 2018028495A1 CN 2017095804 W CN2017095804 W CN 2017095804W WO 2018028495 A1 WO2018028495 A1 WO 2018028495A1
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- WO
- WIPO (PCT)
- Prior art keywords
- steering
- wheel
- slewing bearing
- switch
- steering system
- Prior art date
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Classifications
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- 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
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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
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- 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
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- 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
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- 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
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- 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
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- 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
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- 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
Definitions
- the present invention relates to the field of automobile manufacturing technology, and more particularly to an automobile and wheel steering system.
- the driving direction of the car needs to be changed according to the driver's will.
- the current method of realizing the steering of the car is that the driver turns the car through a set of special mechanical transmission mechanism or steering assist mechanism.
- the steering wheel on the bridge is deflected at an angle relative to the longitudinal axis of the vehicle, thereby changing the direction of travel of the vehicle.
- the traditional automobile steering system consists of a steering mechanism, a steering gear, and a steering transmission mechanism.
- the steering mechanism is composed of a steering wheel, a steering column and a steering universal joint;
- the steering transmission mechanism is composed of a steering rocker arm, a steering rod, a steering knuckle arm and a steering trapezoidal mechanism.
- the traditional steering structure needs to drive the steering axle to rotate the two wheels at the same time.
- the traditional steering mechanism can only turn the wheel to a certain angle to the left and right, generally no more than 90 degrees left and right, and only the same
- the two wheels of the row rotate, and the turning radius is very large. In a place with a small space, it is often impossible to get in place once and it needs to be adjusted repeatedly to turn into place.
- the traditional steering structure is too complicated, the manufacturing cost is high, and the maintenance cost in the later stage is large.
- the invention provides a wheel steering system which has a simple structure, flexible steering and can meet a larger steering.
- the specific plan is as follows:
- a wheel steering system comprising:
- the steering device including a wheel bracket rotatably coupled to the chassis via a slewing ring, the wheel bracket bottom being rotatably coupled to both ends of the steering wheel shaft, the wheel bracket passing the The slewing bearing can drive the steering wheel to rotate 360 degrees;
- the signal executing device is configured to control an angle at which the slewing bearing drives the steering wheel to rotate;
- a corner control device comprising a plurality of reciprocating switch rotors, the plurality of switch rotors transmitting an electrical signal of a steering angle to the signal execution device.
- the corner control device further includes a steering wheel and a steering shaft; the switch rotor is arranged in an arc shape on a bottom of the steering shaft, and the steering shaft is provided with a contact piece, the steering wheel and the steering shaft are rotated The contact is reciprocated to toggle the switch rotor.
- the signal execution device is a PLC programmer; each of the steering wheels is respectively provided with an integrated hub motor; and a through hole is disposed at a top of the wheel bracket and a center of the slewing bearing.
- the corner control device further includes a driving direction controller, and the PLC programmer controls each of the steering wheels to rotate to a preset position according to a preset angle.
- the slewing bearing is provided with external teeth, and the slewing bearing is directly driven or driven by a synchronous motor to drive and rotate with the external teeth of the slewing bearing.
- the number of external teeth of the slewing bearing is 192 teeth
- the number of gear teeth of the synchronous motor output end is 16 teeth
- the number of the switching rotors in the rotation angle control device is 24.
- the corner control device further includes a locking swing arm, and one end of the locking swing arm is provided with a locking tooth that cooperates with the slewing bearing; and the locking swing arm is controlled to swing by an electromagnet.
- one end of the locking swing arm is formed by spring compression engagement on the slewing bearing; the other end is oscillated by the electromagnet to swing the locking swing arm about a centrally disposed shaft.
- a metal contact piece is disposed on the switch rotor, and the contact piece pushes the switch rotor through the metal contact piece; and the contact piece contacts the metal contact piece to energize the electromagnet.
- the present invention provides an automobile comprising the wheel steering system according to any one of the preceding claims; each of the wheels is a steering wheel, and each of the steering wheels is provided with a set of the corner control devices;
- the support is attached to the chassis by a hollow hydraulic shock absorber.
- the invention provides a wheel steering system, comprising a steering device arranged on a steering wheel, the steering device comprises a wheel bracket, the wheel bracket is rotatably connected to the chassis of the vehicle by a slewing bearing, and the bottom of the wheel bracket is rotatably connected to the steering wheel shaft Both ends provide more stable support.
- the wheel bracket realizes steering by driving the wheel to rotate around the slewing bearing. Since the slewing bearing structure is provided, 360 degree rotation can be realized, and the slewing bearing is driven to rotate by the driving device. Also included is a signal actuator that controls the slewing ring and controls the angle at which the steering wheel rotates by controlling the slewing power unit.
- a corner control device is further included.
- the corner control device includes a plurality of reciprocating switch rotors arranged in a regular arrangement, and an electronic signal of a steering angle is sent to the signal execution device through the switch rotor, and the steering device is controlled to perform steering by the signal execution device.
- the wheel steering system uses a plurality of switch rotors as a rotation angle control device, and an electronic signal is emitted from a switch of the switch rotor, and the electronic signal is transmitted to the signal execution device. After the steering device receives the steering signal, the corresponding rotation angle signal is output to The steering device steering device rotates the slewing bearing after receiving the signal from the actuator, thereby driving the wheel to achieve steering.
- the slewing ring can achieve 360-degree steering, which allows the vehicle to achieve a larger angle of turning, more flexible steering, and no complicated mechanical transmission structure, the structure is simpler.
- the automobile provided by the present invention can achieve the same technical effect.
- FIG. 1 is a schematic front view of a wheel steering system provided by the present invention
- FIG. 2 is a schematic side view showing the structure of a wheel steering system provided by the present invention.
- Figure 3 is a structural view of the left side of the reciprocating switch rotor connected
- Figure 4 is a structural view of the right side of the reciprocating switch rotor connected
- Figure 5 is a schematic view showing the rotation of the wheel to the in-situ steering mode
- Figure 6 is a schematic view showing the rotation of the wheel around a certain point outside the vehicle body
- Figure 7 is a perspective structural view of the worm and the steering support
- Figure 8 is a schematic view showing a specific arrangement of the switch rotor
- Figure 9 is a structural view of the slewing bearing and the lock swing arm
- Figure 10 is a structural view showing a metal contact piece and a wire on a switch rotor
- Fig. 11 is a schematic structural view of a vehicle provided by the present invention.
- the core of the invention is to provide a wheel steering system with a simple structure and flexible steering.
- FIG. 1 and FIG. 2 are schematic diagrams showing the front structure and the side structure of the wheel steering system provided by the present invention.
- the wheel steering system provided by the present invention includes components such as a steering device, a signal execution device, and a corner control device.
- the steering device is disposed on the wheel for controlling the rotation of the wheel to change the direction of travel
- the steering device further comprises a slewing bearing 1 and a wheel bracket 2, and the top of the wheel bracket 2 is rotatably coupled to the chassis 8 of the vehicle via the slewing bearing 1, the wheel bracket 2
- the bottom is rotatably connected to both ends of the steering wheel shaft, and the wheel is in contact with the ground, and the wheel bracket 2 supports the vehicle.
- the same supporting structure as that of the wheel bracket 2 is provided, and the vehicle is supported together with the wheel bracket 2.
- all the wheels can also be set as steering wheels, each of which can also be set as a steering wheel.
- the wheels are capable of achieving a separate steering, and these specific embodiments are all included in the scope of the present invention.
- the wheel bracket 2 can drive the steering wheel to rotate 360 degrees by the slewing bearing 1 .
- the slewing bearing 1 includes an inner ring and an outer ring which are relatively rotatable, one of the inner ring and the outer ring is fixed to the chassis 8 of the vehicle, and the other is coupled to the wheel bracket 2 Fixed, the wheel bracket 2 is made through the slewing ring 1 and the chassis 8 Relative rotation.
- the disk surface of the slewing bearing 1 is substantially horizontally arranged, and can be adjusted correspondingly according to the inclination of the wheel bracket 2, and is substantially horizontal, the deviation width is generally within 10 degrees, and the inner ring and the outer ring of the slewing bearing 1 are substantially around the vertical axis. Rotate.
- the axis of the shaft of the steering wheel is substantially horizontally arranged, and the rotation of the wheel drives the vehicle to travel.
- the corner control device includes a plurality of reciprocating switch rotors 9 arranged in a regular arrangement, and the plurality of switch rotors 9 emit an electrical signal of a steering angle to the signal actuator.
- Each of the switching rotors 9 has two signal contact points and is capable of outputting two signals for controlling the rotation of the slewing ring 1 in two different directions.
- FIG. 3 and FIG. 4 respectively, the structure diagram of the reciprocating switch rotor 9 in two different opening and closing states, FIG. 3 shows that the left line is turned on, and FIG. 4 shows that the right line is turned on, in actual setting.
- the left line is turned on by the signal actuator to control the steering device to rotate to the left by a certain angle
- the right line is turned on by the signal actuator to control the steering device to rotate to the right by a certain angle.
- the signal output by each of the switching rotors 9 controls the steering wheel to rotate the same angle.
- the plurality of reciprocating switch rotors 9 are sequentially arranged, and the switch rotors 9 are turned to the left one by one to sequentially turn on the left side line, so that the signal execution device can sequentially control the left turn of the wheel, and each of the switch rotors 9 is turned by the same angle, and the control is performed.
- the number of the switch rotors 9 is turned on to control the rotation amplitude of the wheels, thereby realizing the leftward steering; accordingly, if the right turn is required, the left turn is reversed, and the right side of each of the switch rotors 9 is turned to the right.
- the magnitude of the turn It should be noted that the left side line of each switch rotor 9 is connected to the right side line once, and a steering signal is sent to the signal execution device to achieve a specific angle of rotation, and the steering wheel does not rotate after subsequent continuous contact.
- the plurality of switch rotors 9 are used as the rotation angle control device, and an electronic signal is emitted from the closed circuit of the switch rotor 9, and the electronic signal is transmitted to the signal execution device.
- the output corresponds to Signal to the steering device.
- the slewing ring 1 is rotated, thereby driving the wheel to achieve steering.
- the slewing bearing 1 can achieve 360-degree steering, so that the vehicle can achieve a larger angle of turning, the steering is more flexible, and there is no complicated mechanical transmission structure, and the structure is simpler.
- the wheel bracket 2 is driven by the slewing bearing 1 and the slewing bearing 1 is rotated by the corresponding steering mechanism.
- Each steering wheel is independently controlled, and no steering axle or the like is required.
- the wheel bracket 2 is rotatably connected to both sides of the steering wheel, and the center of rotation of the slewing bearing 1 is located above the wheel, and is not disturbed in each rotation direction, but needs to be set at the position of the steering wheel to avoid air. During the period, the steering wheel is rotated to a maximum of 90 degrees without being blocked.
- the corner control device of the present invention further includes a steering wheel 3 and a steering shaft 31, and the steering wheel 3 is fixed at one end of the steering shaft 31 for simulating a conventional steering control mode, and the driver turns the steering wheel 3 to control the steering wheel.
- the switch rotor 9 is arranged in an arc shape at the bottom of the steering shaft 31, and is arranged at a center of a point on the rotating shaft of the steering shaft 31.
- the steering shaft 31 is provided with a contact piece 32.
- the contact piece 32 is perpendicular to the axial direction of the steering shaft 31.
- the contact piece 32 can be reciprocally toggled on the switch rotor 9, that is, the respective switches are turned to the left.
- the left side line of the switch rotor 9 or the right side line of each of the switch rotors 9 is sequentially turned to the right to simulate a conventional vehicle steering mode.
- the signal execution device is a PLC programmer, that is, a programmable controller, and a preset program in the PLC programmer, and after receiving the steering signal of the switch rotor 9, the wheel bracket 2 is controlled to rotate, in addition to the PLC programmer,
- PLC programmer that is, a programmable controller, and a preset program in the PLC programmer
- Other forms of signal processing devices such as PACs can be used.
- An integral hub motor is respectively arranged on each steering wheel, and the steering wheel is controlled to rotate by the integrated hub motor.
- a corresponding battery assembly is also provided in the vehicle body to supply power to the integrated hub motor.
- the integrated hub motor can also be controlled by the PLC programmer to control the rotation forward or backward to achieve steering.
- the top of the wheel bracket 2 and the center of the slewing ring 1 are respectively provided with through holes, so that the line can pass through, the line is at the center position, and the slewing ring 1 does not rotate when it rotates. The angle causes interference.
- the corner control device of the present invention further includes a travel direction controller that can cause the PLC programmer to separately control the steering wheel rotation according to a preset angle thereof when the travel direction controller is activated.
- a travel direction controller that can cause the PLC programmer to separately control the steering wheel rotation according to a preset angle thereof when the travel direction controller is activated.
- FIG. 5 it is a schematic diagram of the rotation of the wheel to the in-situ steering mode. In the figure, the upper left steering wheel turns 58 degrees to the right, the right upper steering wheel turns right 122 degrees, the left lower steering wheel turns 58 degrees to the left, and the lower right steering wheel turns left to 122 degrees.
- the program of the steering angles of the four steering wheels is written.
- the four steering wheels are respectively rotated into position, and the vehicle is turned on in the forward direction to make the vehicle turn around.
- other modes can be set, for example, when the normal driving is performed, only the first two wheels are used as the steering wheels, and the latter two wheels are kept in straight line; or as shown in FIG. 6, the wheels are made outside the vehicle body. A certain point is the center of the circle.
- the above situation is an example for a four-wheeled vehicle.
- the corresponding steering angle or the number of steering wheels is set according to the specific situation.
- the outer ring of the slewing ring 1 is provided with external teeth, and the slewing ring 1 directly drives the slewing ring 1 through the output end gear of the synchronous motor 4, or the worm gear 6 is driven by the synchronous motor 4 to rotate with the external teeth of the slewing ring 1 .
- the axial structure diagram driven by the worm 6 is shown, and the worm is driven by a motor.
- the slewing ring 1 is directly driven by the synchronous motor 4, and the synchronous motor 4 can be selected by a DC servo motor or a DC stepping motor to keep the plurality of steering wheels synchronously rotated, and the PLC programmer outputs the same number of signals as the steering wheel.
- the gear ratio of the output gear of the synchronous motor to the slewing ring 1 can be specifically set according to the steering precision.
- the present invention provides a specific arrangement manner here: the outer gear number of the slewing ring 1 is set to 192 teeth; the synchronous motor 4 output The number of teeth on the end gear is 16 teeth; the number of switch rotors 9 in the corner control device is 24, and 12 switch rotors 9 are provided on the left or right side, for a total of 48 signal access points, and 24 switch rotors 9 are enclosed in half. Round, halved 180 degrees.
- the more units of rotation the more sensitive the reaction, and more switch rotors 9 can be provided if higher accuracy is required.
- the number of teeth of the slewing ring 1 that is in contact with the wheel is designed to be 192 teeth, and the number of gear teeth of the synchronous motor 4 that controls steering of the steering wheel is designed to be 16 teeth.
- the PLC programmer controlled by each of the switching rotors 9 issues a corresponding signal transmission angle of 90 degrees to control the synchronous motor 4, that is, the synchronous motor 4 is controlled to rotate a quarter turn, and the slewing ring 1 is rotated by 7.5 degrees.
- a schematic view of a particular arrangement of the switching rotor 9 is shown.
- the steering wheel 3 is located in the middle of the 24 switch rotors 9, which can be called zero point, the steering wheel 3 is rotated to the left, and the contact lens 32 contacts the switch rotor 9 of the number-1, the PLC programmer receives the switch -1
- the signal transmitted by the rotor 9 outputs a corresponding pulse signal to four synchronous motors that control the steering of the wheel, and the synchronous motor rotates one unit counterclockwise (each unit rotates the wheel by 7.5 degrees).
- the PLC programmer outputs a signal to the four synchronous motors that control the steering of the wheels.
- the synchronous motor rotates one more unit counterclockwise.
- the PLC programmer again outputs a signal to the four synchronous motors that control the steering of the wheel, and the synchronous motor rotates one unit counterclockwise.
- the steering wheel internal pointer is transmitted to the No. 12 switch rotor 9
- the angle of rotation of the steering wheel is 90 degrees
- the wheel rotation is 12 units
- each unit is 7.5 degrees, then the wheel rotates at the same angle as the steering wheel. It is rotated 90 degrees in the same direction, and the moving direction of the car is the lateral movement.
- the PLC programmer When the contact 32 is reversed, each time a switch rotor 9 is contacted, the PLC programmer sends a signal to the synchronous motor that controls the wheel, and the motor rotates by one unit.
- the above-described ratio of the steering wheel 3 to the steering wheel is only a specific form, and it is also possible to provide gear ratios of other ratios, which are all included in the protection scope of the present invention.
- the switch rotor 9 is designed to have a 90 degree contact angle.
- the starter of the switch rotor 9 is lifted to the right, and when the contact piece 32 is turned right, each rotor is restored, and each of the switch rotors 9 is restored.
- the PLC programmer receives the signal, it sends a corresponding signal to the synchronous motor 4 that controls the steering of the wheel, so that the synchronous motor 4 is reversed.
- the rotation angle control device further includes a lock swing arm 11 which is provided with a lock tooth that is engaged with the slewing ring 1 at one end.
- the lock swing arm 11 is controlled to swing by an electromagnet.
- one end of the lock swing arm 11 provided with the lock tooth is spring-engaged on the slewing ring 1 by the spring, and the other end is oscillated by the electromagnet 12 to swing the lock swing arm 11 around the centrally disposed shaft.
- the back end of one end of the locking tooth is held by a spring to keep the locking teeth and the slewing ring 1 in a state of being held.
- An electromagnet is installed at a certain distance from the other end of the lock swing arm. After the electromagnet is energized, the swing arm is sucked by the magnetic suction. When one end of the swing arm moves downward, the other end moves upward. When the electromagnet is powered off, the swing arm restores the swing arm to the locked state by the pressure of the spring.
- FIG. 10 a structural view of the metal contact piece 91 and the lead wire is provided on the switch rotor 9.
- a metal contact piece 91 is disposed on the switch rotor 9, and the contact piece 32 is biased by the metal contact piece 91 to switch the rotor 9; the contact piece 32 is in contact with the metal contact piece 91 to energize the electromagnet 12.
- the switch has a very close relationship with the synchronous motor switch that controls the rotation of the slewing ring 1. The control rotation is initiated by the contact 32, so the best way is to design the two as one.
- a metal contact piece 91 is disposed on the switch rotor 9 for controlling the PLC programmer signal, and the contact piece 32 is a metal conductor.
- the contact piece 32 contacts the metal contact piece 91 to activate the output signal of the PLC programmer, and then the steering is controlled to be locked.
- the electromagnet switch wire is connected to the above-mentioned pointer and the switch rotor 9 contacts to achieve the function of controlling opening and closing.
- FIG. 11 is a schematic structural view of a vehicle provided by the present invention.
- the automobile of the present invention is preferably an electric vehicle that is driven forward and backward by an integral hub motor.
- the slewing ring 1 is coupled to the chassis 8 via a hollow hydraulic shock absorber 5 to reduce the vibration transmitted by the road surface.
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- 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)
Abstract
一种车轮转向***,包括设置于转向轮上的转向装置,包括顶部通过回转支承(1)连接于底盘(8)的车轮支架(2),底部转动连接于转向轮转轴的两端。还包括信号执行装置,信号执行装置控制回转支承(1),从而控制转向轮转动的角度。还包括转角控制装置,转角控制装置包括多个往复式开关转子(9),可以发出转向角度的电子信号,并通过信号执行装置控制转向装置实现转向。通过多个开关转子(9)作为转角控制装置,由开关转子的开关发出电子信号,电子信号传递至信号执行装置。回转支承(1)可以实现360度的转向,从而使车辆可以达到更大角度的转弯幅度,转向更加灵活,没有复杂的机械传动结构,结构更加简单。该汽车可以实现相同的技术效果。
Description
本申请要求于2016年8月11日提交中国专利局、申请号为201610658384.5、申请名称为“一种汽车及车轮转向***”,以及申请号为201620870402.1、申请名称为“一种汽车及车轮转向***”的中国专利申请的优先权,其全部内容通过引用结合在本申请中。
本发明涉及汽车制造技术领域,更进一步地说是涉及一种汽车及车轮转向***。
汽车在行驶过程中,需按驾驶员的意志改变行驶方向,就轮式汽车而言,目前实现汽车转向的方法是,驾驶员通过一套专设的机械传动机构或者转向助力机构,使汽车转向桥上的转向轮相对于汽车纵轴线偏转一定角度,从而改变汽车的行驶方向。
传统的汽车转向***由转向操纵机构、转向器、转向传动机构组成。其中转向操纵机构由转向盘、转向管柱、转向万向节组成;转向传动机构由转向摇臂、转向拉杆、转向节臂、转向梯形机构组成。对于四轮汽车来说,采用传统的转向结构,需要驱动转向桥使两个车轮同时转动,传统的转向机构只能使车轮左右转动特定的角度,一般左右都不会超过90度,并且只有同排的两个车轮转动,转弯半径很大,在空间狭小的地方往往无法一次到位,需要往复多次调整才能转向到位。并且传统的转向结构太过复杂,制造成本高,后期的维护成本大。
因此,对于本领域的技术人员来说,如何设计一种结构简单,转向灵活自由的汽车转向***,是目前需要解决的技术问题。
发明内容
本发明提供了了一种车轮转向***,其结构简单,转向灵活,能够满足更大幅度的转向。具体方案如下:
一种车轮转向***,包括:
设置于转向轮上的转向装置,所述转向装置包括通过回转支承转动连接于底盘上的车轮支架,所述车轮支架底部转动连接于所述转向轮转轴的两端,所述车轮支架通过所述回转支承能够带动所述转向轮作360度旋转;
信号执行装置,所述信号执行装置用于控制所述回转支承带动所述转向轮转动的角度;
转角控制装置,所述转角控制装置包括多个往复式开关转子,多个所述开关转子向所述信号执行装置发出转向角度的电子信号。
可选地,所述转角控制装置还包括方向盘与转向轴;所述开关转子呈圆弧状排列于所述转向轴的底部,所述转向轴上设置触片所述方向盘与所述转向轴转动时使所述触片往复拨动所述开关转子。
可选地,所述信号执行装置为PLC编程器;每个所述转向轮上分别设置一体式轮毂电机;所述车轮支架顶部与所述回转支承的中心设置贯通孔。
可选地,所述转角控制装置还包括行驶方向控制器,所述PLC编程器根据预设角度分别控制各个所述转向轮转动到预设位置。
可选地,所述回转支承设置外齿,所述回转支承通过同步电机直接驱动或驱动蜗杆与所述回转支承的外齿配合驱动旋转。
可选地,所述回转支承的外齿数为192齿,所述同步电机输出端齿轮齿数为16齿,所述转角控制装置中的所述开关转子数量为24个。
可选地,所述转角控制装置还包括制锁摆臂,所述制锁摆臂的一端设置与所述回转支承配合啮合的制锁齿;所述制锁摆臂通过电磁铁控制摆动。
可选地,所述制锁摆臂设置制锁齿的一端通过弹簧压接啮合在所述回转支承上;另一端通过所述电磁铁吸附使所述制锁摆臂绕中心设置的转轴摆动。
可选地,所述开关转子上设置金属接触片,触片通过所述金属接触片拨动所述开关转子;所述触片与所述金属接触片接触使所述电磁铁通电。
此外,本发明还提供一种汽车,包括上述任一项所述的车轮转向***;每个车轮均为转向轮,每个所述转向轮上各设置一套所述转角控制装置;所述回转支承通过空心式液压减震器连接于底盘上。
本发明提供了一种车轮转向***,包括设置于转向轮上的转向装置,转向装置包括车轮支架,车轮支架通过回转支承转动连接于车辆的底盘上,车轮支架的底部转动连接于转向轮转轴的两端,可以提供更加稳定的支撑。车轮支架通过带动车轮绕回转支承旋转进而实现转向,由于设置有回转支承结构,可以实现360度旋转,回转支承通过驱动装置带动转动。还包括信号执行装置,信号执行装置用于控制回转支承,通过控制回转支承的动力装置,从而控制转向轮转动的角度。还包括转角控制装置,转角控制装置包括多个规律排列设置的往复式开关转子,通过开关转子向信号执行装置发出转向角度的电子信号,并通过信号执行装置控制转向装置实现转向。
本发明提供的车轮转向***通过多个开关转子作为转角控制装置,由开关转子的开关发出电子信号,电子信号传递至信号执行装置,由执行装置接收到转向信号后,输出对应的转动角度信号到转向装置转向装置接收到执行装置的信号后转动回转支承,进而带动车轮实现转向。回转支承可以实现360度的转向,从而使车辆可以达到更大角度的转弯幅度,转向更加灵活,而且没有复杂的机械传动结构,结构更加简单。
此外,本发明提供的汽车可以实现相同的技术效果。
为了更清楚地说明本发明实施例或现有技术中的技术方案,下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍,显而易见地,下面描述中的附图仅仅是本发明的一些实施例,对于本领域普通技术人员来讲,在不付出创造性劳动的前提下,还可以根据这些附图获得其他的附图。
图1为本发明提供的车轮转向***的正面结构简图;
图2为本发明提供的车轮转向***的侧面结构简图;
图3为往复式开关转子左侧线路接通的结构图;
图4为往复式开关转子右侧线路接通的结构图;
图5为车轮转动到原地转向模式的示意图;
图6为车轮绕车身以外某个点转动的示意图;
图7为蜗杆与转向支承配合的轴测结构图;
图8为开关转子一种具体的布置形式的示意图;
图9为回转支承与制锁摆臂配合的结构图;
图10为开关转子上设置金属接触片及导线的结构图;
图11为本发明提供的汽车的结构简图。
其中:
回转支承1、制锁摆臂11、电磁铁12、车轮支架2、方向盘3、转向轴31、触片32、同步电机4、空心式液压减震器5、蜗杆6、车轮7、底盘8、开关转子9、金属接触片91。
本发明的核心在于提供一种车轮转向***,结构简单,转向灵活自由。
为了使本领域的技术人员更好地理解本发明的技术方案,下面将结合附图与具体的实施方式,对本申请的汽车及车轮转向***进行详细的介绍说明。
如图1和图2所示,分别为本发明提供的车轮转向***的正面结构示意图与侧面结构示意图。本发明提供的车轮转向***包括转向装置、信号执行装置和转角控制装置等组件。其中转向装置设置在车轮上,用于控制车轮转动改变行驶方向,转向装置进一步包括回转支承1与车轮支架2,车轮支架2的顶部通过回转支承1转动连接于车辆的底盘8上,车轮支架2的底部转动连接于转向轮转轴的两端,车轮与地面接触,由车轮支架2对车辆实现支撑。需要注意的是,对于其他的非转向轮结构,设置与车轮支架2作用相同的支撑结构,与车轮支架2共同对车辆实现支撑,当然,也可将所有的车轮均设置为转向轮,每个车轮都能够实现单独的转向,这些具体的实施例都包含在本发明的保护范围之内。
车轮支架2通过回转支承1能够带动转向轮作360度旋转,回转支承1包括能够相对转动的内圈与外圈,内圈与外圈中的一个与车辆的底盘8固定,另一个与车轮支架2固定,车轮支架2通过回转支承1与底盘8作
相对转动。回转支承1的盘面大致成水平设置,根据车轮支架2的倾斜度可以作相应的调整,大体上保持水平,偏差幅度一般在10度以内,回转支承1的内圈与外圈大体绕竖直转轴旋转。相应地,转向轮的转轴轴线大体上成水平设置,车轮转动带动车辆行驶。
转角控制装置包括多个规律排列设置的往复式开关转子9,多个开关转子9向信号执行装置发出转向角度的电子信号。每个开关转子9具有两个信号接触点,能够输出两路信号,分别用于控制回转支承1两个不同方向的转动。如图3与图4所示,分别为往复式开关转子9在两个不同开合状态下的结构图,图3表示左侧线路接通,图4表示右侧线路接通,在实际设置时,左侧线路接通由信号执行装置控制转向装置向左转动一定的角度,右侧线路接通由信号执行装置控制转向装置向右转动一定的角度。优选地,为了便于控制,每个开关转子9输出的信号控制转向轮转动相同的角度。将多个往复式开关转子9依次排列,逐个向左拨动开关转子9依次接通左侧线路,可以使信号执行装置依次控制车轮左转,每接通一个开关转子9转动相同的角度,控制开关转子9接通的数量控制车轮的转动幅度,从而实现左侧转向;相应地,如果需要进行右转则与左转的动作相反,向右依次接通各个开关转子9的右侧线路控制右转的幅度。需要注意的是,每个开关转子9的左侧线路与右侧线路接通一次,向信号执行装置发出一次转向信号,实现特定角度的转动,后续持续接触时转向轮不转动。
采用本发明提供的车轮转向***,通过多个开关转子9作为转角控制装置,由开关转子9的闭合线路发出电子信号,电子信号传递至信号执行装置,由执行装置接收到转向信号后,输出对应的信号到转向装置。转向装置接收到信号执行装置的信号后转动回转支承1,进而带动车轮实现转向。回转支承1可以实现360度的转向,从而使车辆可以达到更大角度的转弯幅度,转向更加灵活,而且没有复杂的机械传动结构,结构更加简单。车轮支架2由回转支承1带动转向,回转支承1则通过相应的转向机构带动实现转动,每个转向轮独立控制,不需要转向桥等机构。本发明中车轮支架2转动连接在转向轮的两侧,回转支承1的转动中心位于车轮上方,在各个转动方向上都不会受到干扰,但在转向轮所在位置需要设置避让空
间,使转向轮转动到最大幅度的90度时不受阻挡。
在此基础上更进一步,本发明中的转角控制装置还包括方向盘3与转向轴31,方向盘3固定在转向轴31的一端,用于模拟传统的转向控制方式,驾驶者转动方向盘3控制转向轮左转与右转。开关转子9呈圆弧状排列于转向轴31的底部,以转向轴31转动轴上的点为圆心布置。转向轴31上设置有触片32,触片32与转向轴31的轴线方向垂直,方向盘3与转向轴31同步转动时能够使触片32往复拨动开关转子9,即向左依次接通各个开关转子9的左侧线路、或者向右依次接通各个开关转子9的右侧线路,模拟传统的车辆转向方式。
更进一步,信号执行装置为PLC编程器,即可编程控制器,PLC编程器中预先设定程序,接收到开关转子9的转向信号后控制车轮支架2实现转动,除了PLC编程器之外,还可采用其他形式的信号处理装置,如PAC等。在每个转向轮上分别设置一个一体式轮毂电机,通过一体式轮毂电机控制转向轮转动。相应地在车身内还要设置相应的电池总成,对一体式轮毂电机供电。一体式轮毂电机也可由PLC编程器控制其转动,控制向前或向后转动实现转向。另外,为了方便一体式轮毂电机线路布置,车轮支架2的顶部与回转支承1的中心分别设置有贯通孔,可以使线路穿过,线路位于中心位置,当回转支承1转动时不会对其转动角度造成干扰。
另外,本发明中的转角控制装置还包括行驶方向控制器,行驶方向控制器启动时可以使PLC编程器根据其内部的预设角度分别控制转向轮转动。如图5所示,为车轮转动到原地转向模式的示意图。图中左上转向轮右转58度,右上转向轮右转122度,左下转向轮左转58度,右下转向轮左转122度。在PLC编程器中写入四个转向轮各自转向角度的程序,通过独立的开关按钮启动原地转向的模式时使四个转向轮分别转动到位,正向启动车辆即可使车辆原地掉头。当然,除了这种模式以外,还可设置其他模式,例如当正常行驶时仅有前两个车轮作为转向轮,后两个车轮保持直线行驶;或者如图6所示,使车轮以车身以外的某个点为圆心转动。上述情况是针对四轮汽车作出的举例说明,同样可以应用到三轮车等其他数量车轮的情况下,对应的转向角度或转向轮的数量根据具体情况设定程序。
具体地,回转支承1的外圈上设置有外齿,回转支承1通过同步电机4的输出端齿轮直接驱动回转支承1,或者由同步电机4驱动蜗杆6与回转支承1的外齿配合驱动旋转。如图7所示,表示由蜗杆6驱动的轴测结构图,蜗杆通过电机驱动。或者回转支承1直接通过同步电机4带动,同步电机4可选用直流式伺服电机或直流式步进电机,可以保持多个转向轮同步转动,由PLC编程器输出与转向轮数量相同的信号。
更进一步,同步电机输出端齿轮与回转支承1的齿数比可以根据转向精度具体设定,本发明在此提供一种具体的设置方式:回转支承1的外齿数设置为192齿;同步电机4输出端齿轮齿数为16齿;转角控制装置中的开关转子9数量为24个,左侧或右侧各设置12个开关转子9,总共有48个信号接入点,24个开关转子9围成半圆形,等分180度。当然,转动的单位数越多,反应就越灵敏,若有更高的精度要求可以设置更多的开关转子9。
和车轮相接的回转支承1的齿数设计为192齿,而控制转向轮转向的同步电机4的齿轮齿数设计为16齿。左右两侧12个开关转子9转动的角度分别为90度,则192齿(转动一周为360度)/4(90度为360度的四分之一)=48齿。也就是说控制车轮转向的回转支承1转动90度则是48齿数。48齿/12(开关转子9的数数量)=4齿,则每个单位控制回转支承1的转动齿数为4齿,360度/192(齿数)X4=7.5度,则一个单位4齿数即是转动角的7.5度(4齿=7.5度)小齿轮的总齿数为16齿,16/4=4,360度/4=90度,则同步电机4输出轴小齿轮转动的每个单位为90度即四分之一圈。每个开关转子9控制的PLC编程器发出控制同步电机4的对应信号传动角度为90度,即控制同步电机4转动四分之一圈,使回转支承1转动7.5度。
如图8所示,为开关转子9一种具体的布置形式的示意图。开始启动之前,方向盘3位于24个开关转子9的中间,可称为零点,方向盘3向左转动,触片32接触到标号-1的开关转子9时,PLC编程器收到-1号开关转子9传送的信号,输出对应的脉冲信号到控制车轮转向的四个同步电机,同步电机逆时针转动一个单位(每个单位为车轮转动7.5度)。当触片32
接触到-2号开关转子9时,PLC编程器再次输出信号到控制车轮转向的四个同步电机,同步电机逆时针再转动一个单位。当触片32接触到标号-3号开关转子9时,PLC编程器再次输出信号到控制车轮转向的四个同步电机,同步电机逆时针再次转动一个单位。同理可证,当方向盘内部指针传动到-12号开关转子9时,方向盘转动的角度为90度,而车轮转动为12个单位,每个单位为7.5度,则车轮转动的角度和方向盘一样是同方向转动90度,此时车子的移动方向即为横向移动。当触片32倒转时,每接触一个开关转子9则PLC编程器即发出一路信号到控制车轮的同步电机,电机转动一个单位。上述方向盘3与转向轮一比一传动比仅作为一种具体的形式,设置为其他比值的传动比也是可以的,都包含在本发明的保护范围内。
开关转子9设计为90度接触角,当触片32向左转启动每个转子后启动过的开关转子9右边翘起,触片32右转时复原每个转子,而每复原一个开关转子9,PLC编程器同样会接收到信号则发出对应的信号到控制车轮转向的同步电机4,使同步电机4倒转。
另外,为了保证回转支承1的稳定性,转角控制装置还包括制锁摆臂11,制锁摆臂11的一端设置与回转支承1配合啮合的制锁齿。如图9所示,为回转支承1与制锁摆臂11配合的结构图,制锁摆臂11通过电磁铁控制摆动。
具体地,制锁摆臂11设置制锁齿的一端通过弹簧压接啮合在回转支承1上,另一端通过电磁铁12吸附使制锁摆臂11绕中心设置的转轴摆动。设置制锁齿的一端背面用弹簧顶住,使制锁齿和回转支承1保持制状态。在制锁摆臂的另一端保留一定的距离处安装一个电磁铁,电磁铁通电后通过磁的吸力把摆臂吸住,当摆臂的一端向下运动时,则另一端即向上运动,当电磁铁断电时摆臂通过弹簧的压力将摆臂恢复制锁状态。
如图10所示,为开关转子9上设置金属接触片91及导线的结构图。开关转子9上设置金属接触片91,触片32通过金属接触片91拨动开关转子9;触片32与金属接触片91接触使电磁铁12通电。只有在回转支承1需要转动的情况下才需要使制锁摆臂11分离,所以控制回转支承1解锁的
开关和控制回转支承1转动的同步电机开关有着非常密切的关系。而控制转动的是由触片32启动,所以最好的方式是将两者设计为一体。控制PLC编程器信号的开关转子9上设置金属接触片91,触片32为金属导体,利用触片32接触金属接触片91启动PLC编程器输出信号这一特性,再把控制其转向制锁的电磁铁开关线接入上述指针和开关转子9触片,达到控制开合的功能。
此外,本发明还提供一种汽车,包括上述所介绍的车轮转向***,其中汽车的每个车轮均为转向轮,每个转向轮上分别各设置一套转角控制装置。如图11所示,为本发明提供的汽车的结构简图。本发明的汽车优选地可电动车,由一体式轮毂电机驱动前进后退。回转支承1通过空心式液压减震器5连接于底盘8上,减少路面传递的震动。
对所公开的实施例的上述说明,使本领域专业技术人员能够实现或使用本发明。对这些实施例的多种修改对本领域的专业技术人员来说将是显而易见的,本文中所定义的一般原理,可以在不脱离本发明的精神或范围的情况下,在其它实施例中实现。因此,本发明将不会被限制于本文所示的这些实施例,而是要符合与本文所公开的原理和新颖特点相一致的最宽的范围。
Claims (10)
- 一种车轮转向***,其特征在于,包括:设置于转向轮上的转向装置,所述转向装置包括通过回转支承(1)转动连接于底盘(8)上的车轮支架(2),所述车轮支架(2)底部转动连接于所述转向轮转轴的两端,所述车轮支架(2)通过所述回转支承(1)能够带动所述转向轮作360度旋转;信号执行装置,所述信号执行装置用于控制所述回转支承(1)带动所述转向轮转动的角度;转角控制装置,所述转角控制装置包括多个往复式开关转子(9),多个所述开关转子(9)向所述信号执行装置发出转向角度的电子信号。
- 根据权利要求1所述的车轮转向***,其特征在于,所述转角控制装置还包括方向盘(3)与转向轴(31);所述开关转子(9)呈圆弧状排列于所述转向轴(31)的底部,所述转向轴(31)上设置触片(32),所述方向盘(3)与所述转向轴(31)转动时使所述触片(32)往复拨动所述开关转子(9)。
- 根据权利要求2所述的车轮转向***,其特征在于,所述信号执行装置为PLC编程器;每个所述转向轮上分别设置一体式轮毂电机;所述车轮支架(2)顶部与所述回转支承(1)的中心设置贯通孔。
- 根据利权要求3所述的车轮转向***,其特征在于,所述转角控制装置还包括行驶方向控制器,所述PLC编程器根据预设角度分别控制各个所述转向轮转动到预设位置。
- 根据权利要求1至4任一项所述的车轮转向***,其特征在于,所述回转支承(1)设置外齿,所述回转支承(1)通过同步电机(4)直接驱动或驱动蜗杆(6)与所述回转支承(1)的外齿配合驱动旋转。
- 根据权利要求5所述的车轮转向***,其特征在于,所述回转支承(1)的外齿数为192齿,所述同步电机(4)输出端齿轮齿数为16齿,所述转角控制装置中的所述开关转子(9)数量为24个。
- 根据权利要求5所述的车轮转向***,其特征在于,所述转角控制装置还包括制锁摆臂(11),所述制锁摆臂(11)的一端设置与所述回转支 承(1)配合啮合的制锁齿;所述制锁摆臂(11)通过电磁铁(12)控制摆动。
- 根据权利要求7所述的车轮转向***,其特征在于,所述制锁摆臂(11)设置制锁齿的一端通过弹簧压接啮合在所述回转支承(1)上;另一端通过所述电磁铁(12)吸附使所述制锁摆臂(11)绕中心设置的转轴摆动。
- 根据权利要求7所述的车轮转向***,其特征在于,所述开关转子(9)上设置金属接触片(91),触片(32)通过所述金属接触片(91)拨动所述开关转子(9);所述触片(32)与所述金属接触片(91)接触使所述电磁铁(12)通电。
- 一种汽车,其特征在于,包括权利要求1至9任一项所述的车轮转向***;每个车轮均为转向轮,每个所述转向轮上各设置一套所述转角控制装置;所述回转支承(1)通过空心式液压减震器(5)连接于底盘(8)上。
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