A quickly detachable and installable wire-controlled independent steering mechanism

Abstract

The present invention is applicable to the field of automotive technology and provides a wire-controlled independent steering mechanism that can be quickly disassembled and assembled, including: a steering actuator, comprising an electric drive system, a steering motor, a motor cage, and a bidirectional transmission flange; a steering transmission mechanism, comprising a locking nut, a steering drive shaft, a thrust bearing, a drive shaft retaining bearing, and a bearing bracket; a body connection mechanism, comprising a body connection plate; and an independent suspension connection mechanism, comprising a suspension support plate and a suspension guide rod. The present invention can ensure that the central axis of the entire wire-controlled independent steering mechanism coincides with the wheel plane when the vehicle is stationary, reducing the stress on the parts during the operation of the mechanism; realizes independent steering of each wheel, and designs a quick disassembly and assembly platform, achieving the quick assembly of the four-wheel independent steering platform and different types of vehicle frames to meet the application requirements of different autonomous driving scenarios, which is of great significance for the future research on the mechatronic intelligent steering system based on the four-wheel independent drive platform.

Description

Technical Field

[0001] The present invention belongs to the technical field of automobiles, and particularly relates to a wire-controlled independent steering mechanism that can be quickly disassembled and assembled. Background Art

[0002] The currently available distributed wire-controlled independent steering mechanisms generally consist of a steering assembly and a wheel assembly. While the wheels are driven by hub motors, the steering motors provide corresponding torques to make the wheel assemblies rotate by corresponding angles. By distributing the control of four independent steering actuators and providing appropriate steering angles, special driving conditions such as in-situ steering, diagonal driving, and lateral driving of the vehicle can be achieved.

[0003] However, the disadvantages of the current steering mechanisms on the market are as follows: Under vehicle steering conditions, especially during variable-speed steering, the steering motors rely on complex force feedback systems and steering execution algorithms to maintain the vehicle's steering angle. As a result, under such conditions, the vehicle is prone to deviation and unstable steering, increasing the control difficulty while reducing safety. At the same time, long-term fixed-angle steering keeps the steering motors in a locked-rotor state, which easily leads to overheating of the motors and a decrease in motor life, further reducing steering safety. In addition, the installation methods of existing distributed wire-controlled independent steering mechanisms tend to be vehicle-specific. After the mechanism is separated from the main vehicle, it is difficult to install and use on other vehicles. Therefore, we propose a wire-controlled independent steering mechanism that can be quickly disassembled and assembled. Summary of the Invention

[0004] The purpose of the present invention is to provide a wire-controlled independent steering mechanism that can be quickly disassembled and assembled, aiming to solve the problems raised in the above background art.

[0005] To achieve the above purpose, the present invention provides the following technical solutions:

[0006] A wire-controlled independent steering mechanism that can be quickly disassembled and assembled, comprising:

[0007] A steering actuator, the steering actuator includes an electric drive system, a steering motor, a motor cage, and a bidirectional transmission flange;

[0008] A steering transmission mechanism, connected to the steering actuator, the steering transmission mechanism includes a lock nut, a steering drive shaft, a thrust bearing, a drive shaft retaining bearing, and a bearing bracket;

[0009] A body connection mechanism, connected to the steering transmission mechanism, the body connection mechanism includes a body connection plate;

[0010] An independent suspension connection mechanism, connected to the body connection mechanism, the independent suspension connection mechanism includes a suspension support plate and a suspension guide rod.

[0011] Further, a power supply hole and a data interface are provided on the top surface of the steering motor. The top end of the steering motor is connected to a power supply line through the power supply hole, and the motor is controlled by the N line through the data interface. The lower flange of the steering motor is closely arranged against the top surface of the motor cage. The top surface of the bidirectional transmission flange is in contact with the bottom surface of the output flange of the steering motor. A central hole is provided in the center of the steering motor, and a fixing column is inserted into the central hole.

[0012] Further, eight fixing holes 1 are provided on the top surface of the motor cage, and eight mounting holes 1 are provided on the bottom surface of the steering motor. The eight fixing holes 1 correspond to the eight mounting holes 1 one by one.

[0013] Further, twelve fixing holes 2 are provided on the top surface 2 of the bidirectional transmission flange, and twelve mounting holes 2 are provided on the bottom surface of the steering motor. The twelve fixing holes 2 correspond to the twelve mounting holes 2 one by one.

[0014] Further, four mounting holes 7 are symmetrically distributed on the upper surface of the vehicle body connecting plate. A fixing groove is provided between the four mounting holes 7, and a pin hole is provided on the inner side surface of the fixing groove. Eight mounting holes 6 are evenly distributed on the bottom surface of the vehicle body connecting plate. An inner hole is provided in the center of the vehicle body connecting plate, and a shoulder 2 is provided at the bottom of the inner hole.

[0015] Further, a transmission hole is provided in the center of the steering transmission shaft, and a keyway is provided in the transmission hole. A transmission shaft is provided at the lower end of the bidirectional transmission flange, and a keyway is provided on the transmission shaft. The transmission shaft and the transmission hole are connected by a key to transmit power.

[0016] Further, a thread is provided on the outer circle of the first section of the steering transmission shaft. The steering transmission shaft is connected to a locking nut through the thread. The lower end surface of the locking nut fixes the first thrust bearing on the shoulder 1 of the steering transmission shaft. The outer ring 1 of the first thrust bearing is in contact with the inner hole. The second thrust bearing is fixed on the shoulder 2, and the lower end of the second thrust bearing is limited and fixed by the lower flange of the steering transmission shaft.

[0017] Further, a transmission disc is provided on the steering transmission shaft, and six mounting holes 3 are evenly distributed on the transmission disc. Six mounting holes 4 are evenly distributed on the transmission retaining bearing. The six mounting holes 3 correspond to the six mounting holes 4 one by one. The outer ring 2 of the transmission shaft retaining bearing is matched with the inner ring of the bearing bracket, and eight mounting holes 5 are evenly distributed on the bearing bracket. The eight mounting holes 5 correspond to the eight mounting holes 6 one by one.

[0018] Further, mounting holes eight and six mounting holes ten are formed on the upper top surface of the suspension support plate, and the mounting holes eight are symmetrically distributed left and right; a cylindrical boss extends from the upper top surface of the suspension support plate, and the upper top surface of the boss is in contact and cooperation with the lower bottom surface of the transmission shaft bearing. Six mounting holes nine are formed on the lower end surface of the inner ring of the transmission shaft bearing, and the six mounting holes nine correspond to the six mounting holes eleven one by one.

[0019] Compared with the prior art, the beneficial effects of the present invention are:

[0020] For this quickly detachable and installable wire-controlled independent steering mechanism, when the motor output flange rotates, it drives the bidirectional transmission flange to rotate. The bidirectional transmission flange transmits power to the steering transmission shaft. The rotating steering transmission shaft drives the transmission shaft bearing to rotate. The transmission shaft bearing drives the suspension support plate to rotate through the screws installed below, so that the independent suspension guide rod drives the entire suspension system to rotate; at the same time, it can ensure that the central axis of the entire wire-controlled independent steering mechanism coincides with the wheel plane when the vehicle is stationary, reducing the stress on the parts during the operation of the mechanism. The present invention can achieve independent steering of each wheel. Considering various future vehicle concepts, a quick detachable and installable platform is designed, which can realize the quick assembly of the four-wheel independent steering platform and different types of vehicle frames to meet the application requirements of different autonomous driving scenarios, and has important significance for the future research on the mechatronic intelligent steering system based on the four-wheel independent drive platform. Description of the Drawings

[0021] Figure 1 It is an axonometric view after the assembly of the present invention.

[0022] Figure 2 It is an axonometric view after the assembly of the steering actuator assembly of the present invention.

[0023] Figure 3 It is an exploded view after the assembly of the steering actuator assembly of the present invention.

[0024] Figure 4 It is a top view of the steering transmission mechanism assembly of the present invention.

[0025] Figure 5 It is a bottom view of the steering transmission mechanism assembly of the present invention.

[0026] Figure 6 It is a top view after the assembly of the vehicle body connection mechanism and the steering transmission mechanism of the present invention.

[0027] Figure 7 It is an exploded view after the assembly of the vehicle body connection mechanism and the steering transmission mechanism of the present invention.

[0028] In the figure: steering actuator 1, steering transmission mechanism 2, body connection mechanism 3, independent suspension connection mechanism 4, electric drive system 5, steering motor 6, motor cage 7, bidirectional drive flange 8, locking nut 9, steering drive shaft 10, thrust bearing 11, drive shaft retaining bearing 12, bearing bracket 13, body connecting plate 14, suspension support plate 15, suspension guide rod 16, top surface A1, power hole A2, data interface A3, flange A4, top surface one A5, fixing hole one A6, mounting hole one A7, top surface two A8, output flange A9, fixing hole two A10, mounting hole two A11, fixing post A12, center hole A13, drive hole B1, keyway B1-1, drive shaft B2, thread B3, lower end surface B4, shoulder one B5, outer ring one B6, inner hole B7, shoulder two B8, drive disk B9, mounting hole three B10, mounting hole four B11, outer ring two B12, inner ring B13, mounting hole five B14, bottom surface B15, mounting hole six B16, upper top surface C1, mounting hole eight C2, boss C3, top surface of the boss C3-1, lower bottom surface C4, mounting hole nine C5, mounting hole ten C6, frame support surface D1, mounting hole seven D2, fixing groove D3, inner side surface D4, pin hole D5. Embodiment

[0029] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0030] The following describes the specific implementation of the present invention in detail with reference to specific embodiments.

[0031] As Figures 1-7 shown, a wire-controlled independent steering mechanism that can be quickly disassembled and assembled provided by an embodiment of the present invention includes:

[0032] A steering actuator 1, the steering actuator 1 includes an electric drive system 5, a steering motor 6, a motor cage 7 and a bidirectional drive flange 8;

[0033] A steering transmission mechanism 2, connected to the steering actuator 1, the steering transmission mechanism 2 includes a locking nut 9, a steering drive shaft 10, a thrust bearing 11, a drive shaft retaining bearing 12 and a bearing bracket 13;

[0034] A body connection mechanism 3, connected to the steering transmission mechanism 2, the body connection mechanism 3 includes a body connecting plate 14;

[0035] An independent suspension connection mechanism 4, connected to the body connection mechanism 3, the independent suspension connection mechanism 4 includes a suspension support plate 15 and a suspension guide rod 16.

[0036] In an embodiment of the present invention, preferably, a connecting wire harness is provided on the electric drive system 5. Taking this mechanism as the base, the body connection mechanism 3 can be connected, and steering actuators and independent suspension systems with different performances can be installed respectively.

[0037] As Figures 1-3 shown, as a preferred embodiment of the present invention, a power supply hole A2 and a data interface A3 are opened on the top surface A1 of the steering motor 6. The top end of the steering motor 6 is connected to the power supply line through the power supply hole A2, and the motor control is carried out by the CAN line through the data interface A3; the lower flange A4 of the steering motor 6 is closely arranged against the top surface of the motor holder 7; the top surface of the bidirectional transmission flange 8 is in contact with the bottom surface of the output flange A9 of the steering motor 6; a central hole A13 is opened in the center of the steering motor 6, and a fixing column A12 is inserted into the central hole A13.

[0038] In an embodiment of the present invention, preferably, the fixing column A12 is inserted into the central hole A13 to achieve centering and fixing.

[0039] As Figure 3 shown, as a preferred embodiment of the present invention, eight fixing holes one A6 are opened on the top surface one A5 of the motor holder 7, and eight mounting holes one A7 are opened on the bottom surface of the steering motor 6. The eight fixing holes one A6 and the eight mounting holes one A7 correspond to each other one by one.

[0040] In an embodiment of the present invention, preferably, the eight fixing holes one A6 are through holes with the same radius, the eight mounting holes one A7 are blind holes with the same radius, and the central axes of the fixing holes one A6 and the mounting holes one A7 are both perpendicular to the top surface one A5 of the motor holder 7.

[0041] As Figure 3 shown, as a preferred embodiment of the present invention, twelve fixing holes two A10 are opened on the top surface two A8 of the bidirectional transmission flange 8, and twelve mounting holes two A11 are opened on the bottom surface of the steering motor 6. The twelve fixing holes two A10 and the twelve mounting holes two A11 correspond to each other one by one.

[0042] In an embodiment of the present invention, preferably, the twelve fixing holes two A10 are through holes with the same radius, the twelve mounting holes two A11 are blind holes with the same radius, and the central axes of the fixing holes two A10 and the mounting holes two A11 are both perpendicular to the top surface two A8 of the bidirectional transmission flange 8.

[0043] As Figures 5-7As shown, as a preferred embodiment of the present invention, four mounting holes seven D2 are symmetrically distributed on the upper surface of the vehicle body connecting plate 14. A fixing groove D3 is provided between the four mounting holes seven D2, and a pin hole D5 is formed on the inner side surface D4 of the fixing groove D3; eight mounting holes six B16 are evenly distributed on the bottom surface B15 of the vehicle body connecting plate 14; an inner hole B7 is formed in the center of the vehicle body connecting plate 14, and a shoulder two B8 is provided at the bottom of the inner hole B7.

[0044] In an embodiment of the present invention, preferably, the vehicle frame support surface D1 of the vehicle body connection mechanism 3 is in contact and cooperation with the vehicle frame. Through the above settings, it can be cooperatively connected with the limit block welded on the vehicle frame.

[0045] As Figure 3 and Figure 6 As shown, as a preferred embodiment of the present invention, a transmission hole B1 is left in the center of the steering transmission shaft 10, and a key groove B1-1 is provided inside the transmission hole B1; a transmission shaft B2 is provided at the lower end of the two-way transmission flange 8, and a key groove is provided on the transmission shaft B2. The transmission shaft B2 and the transmission hole B1 are connected by a key to transmit power.

[0046] In an embodiment of the present invention, preferably, the fixing column A12 and the center hole A13 coincide with the central axis of the transmission hole B1.

[0047] As Figure 7 As shown, as a preferred embodiment of the present invention, a thread B3 is provided on the outer ring of the first section of the steering transmission shaft 10. The steering transmission shaft 10 is connected to the lock nut 9 through the thread B3. The lower end surface B4 of the lock nut 9 fixes the first thrust bearing 11 on the shoulder one B5 of the steering transmission shaft 10. The outer ring one B6 of the first thrust bearing 11 is in contact with the inner hole B7. The second thrust bearing 11 is fixed on the shoulder two B8, and the lower end of the second thrust bearing 11 is limited and fixed by the flange at the lower end of the steering transmission shaft 10.

[0048] As Figures 4-7 As shown, as a preferred embodiment of the present invention, a transmission disc B9 is provided on the steering transmission shaft 10, and six mounting holes three B10 are evenly distributed on the transmission disc B9; six mounting holes four B11 are evenly distributed on the transmission retaining bearing 12, and the six mounting holes three B10 correspond to the six mounting holes four B11 one by one; the outer ring two B12 of the transmission shaft retaining bearing 12 is matched with the inner ring B13 of the bearing bracket 13, and eight mounting holes five B14 are evenly distributed on the bearing bracket 13, and the eight mounting holes five B14 correspond to the eight mounting holes six B16 one by one.

[0049] In an embodiment of the present invention, preferably, the drive disk B9 is a flower-shaped drive disk B9, and the six mounting holes three B10 respectively correspond to the six mounting holes four B11 for transmitting torque; the outer ring two B12 of the transmission shaft retaining bearing 12 cooperates with the inner ring B13 of the bearing bracket 13 to reduce the bending moment borne by the steering transmission shaft 10; the eight mounting holes five B14 respectively correspond to the eight mounting holes six B16 one by one to fix the bearing bracket 13 to the vehicle body.

[0050] As Figure 5 and Figure 7 shown, as a preferred embodiment of the present invention, the upper surface C1 of the suspension support plate 15 is provided with an eighth mounting hole C2 and six tenth mounting holes C6, and the eighth mounting holes C2 are symmetrically distributed left and right; a cylindrical boss C3 extends from the upper surface of the suspension support plate 15, and the upper surface C3-1 of the boss is in contact and cooperation with the lower bottom surface C4 of the transmission shaft retaining bearing 12. Six ninth mounting holes C5 are provided on the lower end surface of the inner ring of the transmission shaft retaining bearing 12, and the six ninth mounting holes C5 respectively correspond to the six tenth mounting holes C6 one by one.

[0051] In an embodiment of the present invention, preferably, the central axes of the steering transmission shaft 10, the transmission shaft retaining bearing 12, and the boss C3 coincide.

[0052] The working principle of the present invention is:

[0053] For this quickly detachable and installable wire-controlled independent steering mechanism, the motor output flange A9 rotates to drive the bidirectional drive flange disk 8 to rotate. The bidirectional drive flange disk 8 transmits power to the steering transmission shaft 10 through the lower transmission shaft B2 and the keyway provided on the transmission shaft B2. The rotating steering transmission shaft 10 drives the transmission shaft retaining bearing 12 to rotate, and the transmission shaft retaining bearing 12 drives the suspension support plate 15 to rotate through the screws installed below, so that the independent suspension guide rod 16 drives the entire suspension system to rotate.

[0054] The above is only the preferred embodiment of the present invention. It should be noted that for those skilled in the art, without departing from the concept of the present invention, several deformations and improvements can still be made, which should also be regarded as the protection scope of the present invention, and these will not affect the implementation effect of the present invention and the practicability of the patent.

Claims

1. A wire-controlled independent steering mechanism that can be quickly disassembled and assembled, characterized in that, Comprising: A steering actuator, the steering actuator including an electric drive system, a steering motor, a motor cage, and a bidirectional transmission flange; A steering transmission mechanism, connected to the steering actuator, the steering transmission mechanism including a lock nut, a steering transmission shaft, a thrust bearing, a transmission shaft retaining bearing, and a bearing bracket; A body connection mechanism, connected to the steering transmission mechanism, the body connection mechanism including a body connection plate; An independent suspension connection mechanism, connected to the body connection mechanism, the independent suspension connection mechanism including a suspension support plate and a suspension guide rod; On the upper surface of the body connection plate, four mounting holes seven are symmetrically distributed. There is a fixing groove between the four mounting holes seven, and a pin hole is opened on the inner side surface of the fixing groove; on the bottom surface of the body connection plate, eight mounting holes six are evenly distributed; in the center of the body connection plate, there is an inner hole, and a shoulder two is provided at the bottom of the inner hole; A transmission hole is left in the center of the steering transmission shaft, and a keyway is arranged in the transmission hole; a transmission shaft is provided at the lower end of the bidirectional transmission flange, a keyway is arranged on the transmission shaft, and power is transmitted between the transmission shaft and the transmission hole through a key connection; A thread is provided on the outer ring of the first section of the steering transmission shaft, and the steering transmission shaft is connected to the lock nut through the thread. The lower end surface of the lock nut fixes the first thrust bearing on the shoulder one of the steering transmission shaft. The outer ring one of the first thrust bearing contacts the inner hole. The second thrust bearing is fixed on the shoulder two, and the lower end of the second thrust bearing is limited and fixed by the flange at the lower end of the steering transmission shaft.

2. The quickly detachable and installable wire-controlled independent steering mechanism according to claim 1, wherein A power supply hole and a data interface are opened on the top surface of the steering motor. The top end of the steering motor is connected to a power supply line through the power supply hole, and motor control is carried out by the N line through the data interface; the flange at the lower end of the steering motor is closely arranged against the top surface of the motor cage; the top surface of the bidirectional transmission flange contacts the bottom surface of the output flange of the steering motor; a central hole is opened in the center of the steering motor, and a fixing column passes through the central hole.

3. The quickly detachable and installable wire-controlled independent steering mechanism according to claim 2, wherein Eight fixing holes one are opened on the top surface one of the motor cage, and eight mounting holes one are opened on the bottom surface of the steering motor. The eight fixing holes one respectively correspond to the eight mounting holes one one by one.

4. The quickly detachable and installable wire-controlled independent steering mechanism according to claim 3, characterized in that, Twelve fixing holes two are opened on the top surface two of the bidirectional transmission flange, and twelve mounting holes two are opened on the bottom surface of the steering motor. The twelve fixing holes two respectively correspond to the twelve mounting holes two one by one.

5. The quickly detachable and installable wire-controlled independent steering mechanism according to claim 1, characterized in that, A transmission disc is provided on the steering transmission shaft, and six mounting holes three are evenly distributed on the transmission disc; six mounting holes four are evenly distributed on the transmission retaining bearing. The six mounting holes three respectively correspond to the six mounting holes four one by one; the outer ring two of the transmission shaft retaining bearing is matched with the inner ring of the bearing bracket, and eight mounting holes five are evenly distributed on the bearing bracket. The eight mounting holes five respectively correspond to the eight mounting holes six one by one.

6. The quickly detachable and assembled wire-controlled independent steering mechanism according to claim 1, wherein An mounting hole eight and six mounting holes ten are opened on the top surface of the suspension support plate. The mounting hole eight is symmetrically distributed left and right; a cylindrical boss extends on the top surface of the suspension support plate, and the top surface of the boss contacts and cooperates with the bottom surface of the transmission shaft retaining bearing. Six mounting holes nine are opened on the lower end surface of the inner ring of the transmission shaft retaining bearing. The six mounting holes nine respectively correspond to the six mounting holes eleven one by one.

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