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Wheel assembly with integration of independent driving, steering, suspending and braking

An independent drive and wheel technology, applied in the direction of brakes, steering rods, steering mechanisms, etc., can solve the problems of complex structure, increased difficulty, and the difficulty of complete sealing of the steering driven bevel gear.

Inactive Publication Date: 2010-02-03
SHANDONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This device realizes independent drive and independent steering, but the structure is more complicated, which increases the difficulty of dynamic calculation, and the steering driven bevel gear is not easy to be completely sealed

Method used

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  • Wheel assembly with integration of independent driving, steering, suspending and braking
  • Wheel assembly with integration of independent driving, steering, suspending and braking
  • Wheel assembly with integration of independent driving, steering, suspending and braking

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Embodiment Construction

[0022] The integrated wheel assembly of the present invention is as figure 1 As shown, it includes four parts: wheel driving device, suspension device, steering device and braking device. The specific structure of each part is as follows.

[0023] The driving device is made up of rim 6, tire 11 and hub motor 7. A tire 11 is mounted on the rim 6, which together form the wheel. The rim 6 is fixed together with the outer rotor of the hub motor 7, and the fixed shaft (stator) of the hub motor 7 is rigidly connected with the steering knuckle 5 in the suspension. When a certain drive current is given to the hub motor 7, the outer rotor of the motor drives the entire wheel to move.

[0024] Suspension device is made up of upper swing arm 15, constant velocity universal joint 10, steering knuckle 5, ball joint 4, lower swing arm 2 and shock absorber 3. The upper end of the steering knuckle 5 is rigidly connected with the inner casing of the constant velocity universal joint 10, the...

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Abstract

The invention provides a wheel assembly with integration of independent driving, steering, suspending and braking, which comprises a wheel driver, a suspender, a steering device and a braker, whereinthe driver comprises wheels and a wheel hub electric motor, the suspender comprises an upper cross arm, an equal-speed universal joint, a steering joint, a ball head, a lower oscillation arm and a shock absorber, the steering device comprises a steering electric motor, a telescopic universal joint, a driving bevel gear, a driven bevel gear and an absolute encoder, and the braker comprises a braking disk, a pair of float-type braking caliper and a braking hydraulic system. By using vehicle front wheels or back wheels for steering or four wheels for independent steering, the invention realizes zero-radius original-place steering and translational movement along any direction, the line-control driving, line-control steering and line-control braking of the vehicle, and the independent controlon the driving, the steering and the braking of the wheels, and enables the vehicle to run in a best mode.

Description

technical field [0001] The invention relates to a wheel assembly of an independently driven-independent steering-independent suspension robotized miniature electric vehicle, which belongs to the technical field of mobile robot wheels. Background technique [0002] In recent years, the research on ground wheeled high-speed and high-mobility mobile platforms has undergone new changes. In terms of military robotic vehicles, wheeled manned and unmanned vehicles require their motion platforms to have as high mobility and power as possible to meet the requirements of field operations and small urban alleys. Daimler-Chrysler has released a four-wheel independent drive / independent steering (4WID / 4WIS, 4 Wheels Independent Driving & Steering) Jeep functional prototype in February 2005. In terms of civilian robotic vehicles, the development of next-generation hybrid and electric vehicles with multi-directional motion capabilities kicked off. [0003] Chinese patent document CN271099...

Claims

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Application Information

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IPC IPC(8): B60K7/00B60G7/00B60G13/00B62D7/18B60T1/06B60T13/14
CPCB60K17/356B60K7/0007B60K17/358B60K2007/0038B60K2007/0092
Inventor 荣学文李贻斌宋锐阮久宏杨福广邵滨徐勤江
Owner SHANDONG UNIV
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