Attitude controllable vehicle

Abstract

This invention provides a posture-controllable vehicle, comprising: a vehicle body; multiple wheels, each wheel including a wheel body and a planetary gear mechanism disposed inside the wheel body, the planetary gear mechanism including a sun gear, at least three planetary gears surrounding and meshing with the sun gear, a planet carrier supporting the planetary gears, and an external gear ring surrounding and meshing with the at least three planetary gears, the vehicle body being connected to a first planetary gear among the at least three planetary gears; and multiple drive units for driving the multiple wheels, each drive unit including a posture control motor, the posture control motor driving the first planetary gear to rotate the planet carrier, thereby changing the position of the wheel body relative to the vehicle body. The posture-controllable vehicle according to this invention can achieve posture adjustment using a planetary gear mechanism.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and more particularly to a vehicle with attitude controllability. Background Technology

[0002] As the quality of daily life continues to improve, people are placing higher demands on the safety, comfort, and intelligence of vehicles.

[0003] Existing vehicles (especially small vehicles) have poor self-adjustment performance when driving on complex road surfaces. This can cause the vehicle to tilt too much or the chassis to get stuck on the complex road surface, which can easily lead to vehicle rollover or damage, thereby affecting driving safety and causing damage to parts inside the vehicle.

[0004] For example, existing small electric vehicles are widely used in residential areas due to their excellent maneuverability. However, in order to adapt to the narrow roads in residential areas, small electric vehicles are designed with a smaller wheelbase, which results in poor lateral stability and a tendency to overturn when turning, seriously affecting driving safety.

[0005] Existing small electric vehicles typically improve lateral stability by installing electronically controlled or hydraulic devices in the front and rear suspensions. However, hydraulic devices present problems such as complexity and excessive power consumption in electronically controlled systems. Summary of the Invention

[0006] One object of the present invention is to provide an attitude-controllable vehicle based on a planetary gear mechanism.

[0007] Another object of the present invention is to provide a posture-controllable vehicle that can change its posture according to driving information to improve driving safety and / or comfort.

[0008] According to one embodiment of the present invention, a posture-controllable vehicle is provided, the posture-controllable vehicle comprising: a vehicle body; a plurality of wheels, each wheel comprising a wheel body and a planetary gear mechanism disposed inside the wheel body, the planetary gear mechanism comprising a sun gear, at least three planetary gears surrounding and meshing with the sun gear, a planet carrier supporting the planetary gears, and an external gear ring surrounding and meshing with the at least three planetary gears, the vehicle body being connected to a first planetary gear among the at least three planetary gears; and a plurality of drive units, each for driving the plurality of wheels, each drive unit comprising a posture control motor, the posture control motor being used to drive the first planetary gear to rotate the planet carrier, thereby changing the position of the wheel body relative to the vehicle body.

[0009] Optionally, each drive unit further includes a travel drive motor for driving the wheel body to rotate in the forward / reverse direction.

[0010] Optionally, each drive unit further includes a steering control motor for steering the wheels.

[0011] Optionally, the sun gear is mounted on the central shaft of the planetary gear mechanism, and the central shaft and the external gear ring are fixed. Alternatively, the sun gear and the central shaft form a revolute joint, and the planet carrier and the central shaft are fixed; or the sun gear and the central shaft are fixed, and the planet carrier and the central shaft form a revolute joint.

[0012] Optionally, the wheel body includes a tire and a hub disposed on the axially outer side of the tire and supporting the tire, and the drive shaft of the driving motor is fixed to the hub to drive the tire to rotate around the drive shaft of the driving motor.

[0013] Optionally, the tire is fitted radially outside the outer toothed ring, and the tire is rotatable relative to the outer toothed ring.

[0014] Optionally, the drive motor is disposed inside the central shaft of the planetary gear mechanism, and the housing of the drive motor is fixed to the inner wall of the central shaft.

[0015] Optionally, the planetary carrier includes: an inner planetary carrier that supports and covers the at least three planetary gears on the side of the wheel facing the vehicle body, wherein the outer diameter of the inner planetary carrier is larger than the inner diameter of the outer gear ring; and an outer planetary carrier disposed within the outer gear ring.

[0016] Optionally, the external gear ring includes an outer circular plate disposed on the outer side of the outer planetary carrier, one end of the central shaft of the planetary gear mechanism is disposed on the outer circular plate, and the other end protrudes toward the vehicle body.

[0017] Optionally, the central axis passes through the outer planet carrier, the sun gear and the central axis form a revolute joint, and the outer planet carrier and the central axis are fixed; or the sun gear and the central axis are fixed, and the outer planet carrier and the central axis form a revolute joint.

[0018] Optionally, the steering control motor and the attitude control motor are connected to the first planetary gear.

[0019] Optionally, the drive unit further includes a steering mechanism assembly connected to the steering control motor. The housing of the steering control motor is fixed to the vehicle body, and the housing of the attitude control motor is fixed to the steering mechanism assembly. The drive shaft of the attitude control motor is connected to the first planetary gear. When steering, the steering control motor drives the steering mechanism assembly, the attitude control motor, and the wheels to turn as a whole.

[0020] Optionally, the attitude-controllable vehicle further includes a control unit for controlling the plurality of drive units.

[0021] Optionally, the attitude-controllable vehicle further includes a steering angle sensor and a speed sensor. The steering angle sensor is configured to measure the steering information of the wheels and transmit the steering information to the control unit. The speed sensor is configured to measure the travel speed of the wheels and transmit the travel speed to the control unit. When the travel speed is greater than a first predetermined speed and the control unit determines that the wheels are turning right based on the steering information, the control unit controls the attitude control motor to raise the connection point of the first planetary gear of the left wheel to the vehicle body above the center point of the wheel, and / or lower the connection point of the first planetary gear of the right wheel to the vehicle body below the center point of the wheel. When the travel speed is greater than the first predetermined speed and the control unit determines that the wheels are turning left based on the steering information, the control unit controls the attitude control motor to raise the connection point of the first planetary gear of the right wheel to the vehicle body above the center point of the wheel, and / or lower the connection point of the first planetary gear of the left wheel to the vehicle body below the center point of the wheel.

[0022] Optionally, the attitude-controllable vehicle further includes a speed sensor configured to measure the travel speed of the wheels and transmit the travel speed to the control unit. When the travel speed exceeds a second predetermined speed, the control unit controls the attitude control motor to lower the connection point between the first planetary gears of all wheels and the vehicle body below the center point of the wheel.

[0023] Optionally, the attitude-controllable vehicle further includes a road condition sensor configured to measure the road conditions of the attitude-controllable vehicle and transmit the road conditions to the control unit. When the control unit determines that the attitude-controllable vehicle is traveling in adverse road conditions based on the road conditions, the control unit controls the attitude control motor to raise the connection point between the first planetary gear of all wheels and the vehicle body to above the center point of the wheel.

[0024] Optionally, the attitude-controllable vehicle further includes a road condition sensor and a steering angle sensor. The road condition sensor is configured to measure the road conditions of the attitude-controllable vehicle and transmit the road conditions to the control unit. The steering angle sensor is configured to measure the steering information of the wheels and transmit the steering information to the control unit. When the control unit determines that the attitude-controllable vehicle is turning on a narrow road based on the road conditions and the steering information, the control unit controls the attitude control motor such that the connection point of the first planetary gear of the front wheel is located in front of the center point of the wheel, and the connection point of the first planetary gear of the rear wheel is located behind the center point of the wheel. When the control unit determines that the attitude-controllable vehicle is traveling on a wide road based on the road conditions, the control unit controls the attitude control motor such that the connection point of the first planetary gear of the front wheel is located behind the center point of the wheel, and the connection point of the first planetary gear of the rear wheel is located in front of the center point of the wheel.

[0025] According to an embodiment of the present invention, the attitude-controllable vehicle can achieve attitude adjustment using a planetary gear mechanism.

[0026] According to embodiments of the present invention, a posture-controllable vehicle can change its posture based on driving information (e.g., road conditions, steering information, driving speed, etc.) to improve driving safety and / or comfort.

[0027] According to an embodiment of the present invention, the attitude-controllable vehicle can adjust the vehicle body height and wheelbase to improve the vehicle's passability and longitudinal stability. Attached Figure Description

[0028] The above and other objects, features and advantages of the present invention will become clearer from the following detailed description taken in conjunction with the accompanying drawings, in which:

[0029] Figure 1 This is a perspective view of a portion of an attitude-controllable vehicle according to an embodiment of the present invention;

[0030] Figure 2 This is a perspective view of the wheels of an attitude-controllable vehicle according to an embodiment of the present invention, with the inner planetary carrier removed.

[0031] Figure 3 yes Figure 2 The front view of the wheel in the picture;

[0032] Figure 4 It is along Figure 3 A cross-sectional view taken from line AA in the diagram;

[0033] Figure 5This is a perspective view of the wheels of an attitude-controllable vehicle according to an embodiment of the present invention, including the inner planetary carrier;

[0034] Figure 6 It is along Figure 5 A cross-sectional view taken from the BB line in the diagram;

[0035] Figure 7 This is a schematic diagram of the inner planet carrier and outer planet carrier supporting the planetary gears according to an embodiment of the present invention;

[0036] Figure 8 This is a schematic diagram of an external gear ring according to an embodiment of the present invention;

[0037] Figure 9 This is a schematic diagram illustrating the arrangement of the attitude motor and steering motor according to an embodiment of the present invention;

[0038] Figures 10 to 14 The diagram illustrates different attitude adjustments of an attitude-controllable vehicle according to an embodiment of the present invention.

[0039] Figure 15 A schematic diagram of the steering of a posture-controllable vehicle according to an embodiment of the present invention is shown.

[0040] Explanation of symbols in the attached drawings:

[0041] 1000-vehicles

[0042] 100-Car Body

[0043] 200-wheel

[0044] 210-Wheel body

[0045] 211-Tire

[0046] 212-Wheel

[0047] 220-Planetary Gear Mechanism

[0048] 220a-Central Axis

[0049] 221-Sun Wheel

[0050] 222-Planetary Wheel

[0051] 222a - First Planetary Gear

[0052] 223-External Gear Ring

[0053] 223a-Outer Circular Plate

[0054] 224-Planet Carrier

[0055] 224a-Inner Planetary Carrier

[0056] 224b - Outer Planetary Carrier

[0057] 230-Drive Unit

[0058] 231-Drive Motor

[0059] 231a-Drive Shaft

[0060] 232-Attitude Control Motor

[0061] 233-Steering control motor

[0062] 234 - Steering mechanism assembly. Detailed Implementation

[0063] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0064] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

[0065] The following will refer to Figures 1 to 9 A detailed description of an attitude-controllable vehicle according to an embodiment of the present invention.

[0066] Figure 1 This is a perspective view of a portion of an attitude-controllable vehicle according to an embodiment of the present invention. Figure 2 This is a perspective view of the wheels of a posture-controllable vehicle according to an embodiment of the present invention, with the inner planetary carrier removed. Figure 3 yes Figure 2 The front view of the wheel in the picture. Figure 4 It is along Figure 3 The cross-sectional view taken by line AA in the diagram. Figure 5 This is a perspective view of the wheels of a posture-controllable vehicle according to an embodiment of the present invention, including the inner planetary carrier. Figure 6 It is along Figure 5 The cross-sectional view taken from the BB line. Figure 7 This is a schematic diagram of the inner planet carrier and outer planet carrier supporting the planetary gears according to an embodiment of the present invention. Figure 8 This is a schematic diagram of an external gear ring according to an embodiment of the present invention. Figure 9 This is a schematic diagram illustrating the arrangement of the attitude motor and steering motor according to an embodiment of the present invention.

[0067] like Figure 1 As shown, the attitude-controllable vehicle 1000 according to an embodiment of the present invention may include a vehicle body 100. Figure 1 Only a portion of the vehicle body 100 is shown in a simplified manner, and the overall structure of the vehicle body 100 is not shown. It should be understood that the present invention does not impose specific limitations on the specific structure of the vehicle body 100.

[0068] According to an embodiment of the present invention, the attitude-controllable vehicle 1000 may further include a plurality of wheels 200. Based on the left and right sides of the vehicle body 100, the plurality of wheels 200 may be divided into left-side wheels and right-side wheels, and based on the front and rear of the vehicle body 100, the plurality of wheels 200 may be divided into front wheels and rear wheels. Figure 1 The diagram shows two front wheels and two rear wheels (i.e., two left wheels and two right wheels). However, the number of left and right wheels, and the number of front and rear wheels of the vehicle body 100 are not specifically limited. As an example, the attitude-controlled vehicle 1000 may include two front wheels and four rear wheels (i.e., three left wheels and three right wheels). As an example, the attitude-controlled vehicle 1000 may include four front wheels and four rear wheels (i.e., four left wheels and four right wheels).

[0069] According to embodiments of the present invention, such as Figure 1 As shown, each wheel 200 may include a wheel body 210 and a planetary gear mechanism 220 disposed inside the wheel body 210. Figures 1 to 4 As shown, the planetary gear mechanism 220 may include a sun gear 221, at least three planet gears 222 surrounding and meshing with the sun gear 221, a planet carrier 224 supporting the planet gears 222 (the planet carrier 224 is rotatably connected to the planet gears 222), and an external gear ring 223 surrounding and meshing with the at least three planet gears 222.

[0070] Figures 1 to 3 The diagram shows a planetary gear mechanism 220 comprising three planetary gears 222; however, the invention is not limited thereto. For example, the planetary gear mechanism 220 may include four or more planetary gears 222. The planetary gears 222 surround and mesh with the sun gear 221, thus the planetary gears 222 are eccentrically positioned in the planetary gear mechanism 220 relative to the sun gear 221, which is the center.

[0071] Figure 1 To show the internal structure of the planetary gear mechanism 220, the inner planetary carrier 224a located near the vehicle body 100 of the planetary carrier 224 is omitted (see...). Figure 5 ).

[0072] like Figure 2As shown, the attitude-controllable vehicle 1000 according to an embodiment of the present invention may further include a plurality of drive units 230, each for driving a plurality of wheels 200. The attitude-controllable vehicle 1000 may be provided with a number of drive units 230 corresponding to the number of wheels 200, for driving each wheel 200.

[0073] like Figures 2 to 4 As shown, according to an embodiment of the present invention, each drive unit 230 may include an attitude control motor 232, and the planetary gear 222 that is fixedly connected to the shaft of the attitude control motor 232 is referred to as the first planetary gear 222a. The attitude control motor 232 is used to drive the first planetary gear 222a to drive the planet carrier 224 to rotate to change the position of the wheel body 210 relative to the vehicle body 100, thereby realizing the attitude adjustment of the vehicle body 100.

[0074] like Figures 2 to 4 As shown in the embodiment of the present invention, each drive unit 230 may further include a driving drive motor 231, which can be used to drive the wheel body 210 to rotate in the forward / reverse direction, so as to realize the overall forward or backward movement of the wheel 200.

[0075] like Figures 2 to 4 As shown, according to an embodiment of the present invention, each drive unit 230 may further include a steering control motor 233, which can be used to drive the wheels 200 to steer (i.e., left or right). In other words, the steering control motor 233 can drive the wheels 200 to steer as a whole.

[0076] like Figure 1 , Figure 2 and Figure 4 As shown, according to an embodiment of the present invention, the wheel body 210 may include a tire 211 and a hub 212 supporting the tire 211. The hub 212 is disposed on the axially outer side of the tire 211 (i.e., the side of the tire 211 away from the vehicle body 100). The specific arrangement of the tire 211 and the hub 212 is not limited, as long as the hub 212 can support the tire 211.

[0077] like Figures 2 to 4 As shown, the outer gear ring 223 is disposed inside the tire 211, meaning that the tire 211 is fitted radially outside the outer gear ring 223. Specifically, the outer gear ring 223 is disposed within the internal space defined by the tire 211 and the wheel hub 212. The tire 211 can rotate relative to the outer gear ring 223, i.e., the tire 211 and the outer gear ring 223 are in a rolling connection. When the tire 211 rotates forward / backward, the outer gear ring 223 does not rotate with the tire 211. Therefore, when the drive motor 231 drives the wheel 200 forward or backward, it will not cause the outer gear ring 223 to rotate, thus not affecting the vehicle's attitude control.

[0078] like Figure 4 , Figure 6 and Figure 8 As shown, the external gear ring 223 may include an outer circular plate 223a disposed on the rear side of the external gear ring 223, the outer circular plate 223a being disposed close to the hub 212. One end of the central shaft 220a of the planetary gear mechanism 220 is disposed on the outer circular plate 223a (e.g., inserted into the outer circular plate 223a), and the other end protrudes towards the vehicle body 100. That is, the central shaft 220a can be fixed to the outer circular plate 223a of the external gear ring 223. Figure 3 As shown, the sun gear 221 can be fitted onto the central shaft 220a of the planetary gear mechanism 220.

[0079] like Figures 3 to 6 As shown, according to an embodiment of the present invention, the central shaft 220a can be a hollow shaft, and the drive motor 231 can be disposed inside the central shaft 220a. The housing of the drive motor 231 is fixed to the inner wall of the central shaft 220a, thereby saving space. Figure 6 As shown, the drive shaft 231a of the drive motor 231 extends outward toward the outside of the wheel 200 and can be fixed to the wheel hub 212 to drive the wheel hub 212 and the tire 211 to rotate around the drive shaft 231a of the drive motor 231.

[0080] like Figures 4 to 7 As shown, the planet carrier 224 may include an inner planet carrier 224a and an outer planet carrier 224b. The inner planet carrier 224a is located on the side closer to the vehicle body 100, and the outer planet carrier 224b is located on the side farther from the vehicle body 100. As an example, the inner planet carrier 224a and the outer planet carrier 224b may be configured as circular plates.

[0081] like Figure 6 As shown, the outer planet carrier 224b supports the planet gear 222 within the outer gear ring 223, and the outer planet carrier 224b can be positioned close to the outer circular plate 223a. By positioning the outer planet carrier 224b within the outer gear ring 223, the lateral resistance can be improved.

[0082] like Figure 6 As shown, the inner planetary carrier 224a supports the planetary gear 222 on the side closest to the vehicle body 100. The outer diameter of the inner planetary carrier 224a is larger than the inner diameter of the outer gear ring 223 to serve as a dustproof feature. As an example, the outer diameter of the inner planetary carrier 224a and the inner diameter of the outer gear ring 223 can be the same.

[0083] According to embodiments of the present invention, such as Figure 6 As shown, the central axis 220a can pass through and be fixed to the outer planet carrier 224b. Figure 5As shown, a through hole is formed in the center of the inner planet carrier 224a, through which the central shaft 220a can pass.

[0084] like Figure 2 , Figure 3 and Figure 7 As shown, the planetary gear 222 can be supported and rotated by the inner planet carrier 224a and the outer planet carrier 224b disposed on both sides of the axial direction of the planetary gear 222. The planetary gear 222 can mesh with both the external gear ring 223 and the sun gear 221 simultaneously. The arrangement of the planetary gear 222 between the external gear ring 223 and the sun gear 221 is not specifically limited. As an example, the planetary gear 222 can be evenly arranged circumferentially.

[0085] In a planetary gear mechanism, when any two of the planet carrier, external gear ring, and sun gear are combined into one unit, the entire planetary gear mechanism will rotate as a whole.

[0086] According to an embodiment of the present invention, the sun gear 221 and the central shaft 220a can be made into a revolute pair, and the planet carrier 224 and the central shaft 220a can be fixed. According to the embodiment described above, since both the planet carrier 224 and the external gear ring 223 are fixed to the central shaft 220a, the planet carrier 224 and the external gear ring 223 are fixed together, that is, the two elements in the planetary gear mechanism are combined into one unit. At this time, when the sun gear 221 and the central shaft 220a are made into a revolute pair, the entire planetary gear mechanism 220 will rotate as a whole.

[0087] However, the invention is not limited thereto. As another example, the sun gear 221 and the central shaft 220a can be fixed together, and the planet carrier 224 and the central shaft 220a can be a revolute pair. That is, in Figure 4 In this configuration, the central shaft 220a can pass through the outer planet carrier 224b of the planet carrier 224 and be rotatably connected to it. In this case, since the sun gear 221 and the central shaft 220a are fixed together, and the external gear ring 223 is also fixed to the central shaft 220a, the sun gear 221 and the external gear ring 223 are thus fixed together; that is, the two elements of the planetary gear mechanism are integrated into one unit. At this time, when the planet carrier 224 and the central shaft 220a are made as a revolute pair, the entire planetary gear mechanism 220 will rotate as a single unit.

[0088] In other words, in the embodiment of the present invention, when attitude adjustment is performed by the attitude control motor 232, the sun gear 221, the external gear ring 223, and the planet carrier 224 in the planetary gear mechanism 220 are locked, and the planetary gear mechanism 220 rotates as a whole. The first planetary gear 222a connected to the vehicle body 100 acts similarly to an eccentric wheel. When the planetary gear mechanism 220 rotates as a whole, the position of the vehicle body 100 can be adjusted as the position of the first planetary gear 222a changes, thereby achieving vehicle attitude adjustment.

[0089] According to embodiments of the present invention, such as Figure 2 and Figure 9 As shown, the steering control motor 233 and the attitude control motor 232 can be connected to the first planetary gear 222a. The vehicle body 100 can be connected to the first planetary gear 222a via the steering control motor 233 and the attitude control motor 232.

[0090] Specifically, such as Figure 2 and Figure 9 As shown, the housing of the steering control motor 233 is fixed to the vehicle body 100. The drive unit 230 may also include a steering mechanism assembly 234 connected to the steering control motor 233. The housing of the attitude control motor 232 is fixed to the steering mechanism assembly 234. The drive shaft of the attitude control motor 232 is connected to the first planetary gear 222a.

[0091] When steering, the steering control motor 233 drives the steering mechanism assembly 234, the attitude control motor 232, and the wheels 200 to steer as a whole. When adjusting the attitude, the drive shaft of the attitude control motor 232 can provide torque, which drives the first planetary gear 222a to rotate the entire planetary gear mechanism 220, thereby enabling the vehicle body 100 to change position up and down and forward and backward relative to the wheel body 210, thus achieving vehicle attitude adjustment.

[0092] The following is for reference Figures 10 to 15 An exemplary control strategy is described for an attitude-controllable vehicle 1000.

[0093] According to an embodiment of the present invention, the attitude-controllable vehicle 1000 may further include a control unit (not shown) for controlling the drive unit 230. As an example, the control unit may be an electronic control unit (ECU). The control unit may be disposed on the vehicle body 100, and the specific placement of the control unit on the vehicle body 100 is not limited. The control unit for controlling the drive unit 230 may be integrated with the main control unit of the attitude-controllable vehicle 1000 or may be disposed separately, without specific limitations.

[0094] According to an embodiment of the present invention, the attitude controllable vehicle 1000 can adjust its attitude according to the driving environment through a control unit, thereby improving driving safety and comfort.

[0095] According to an embodiment of the present invention, the attitude-controllable vehicle 1000 may further include a steering angle sensor (not shown) and a speed sensor (not shown). The steering angle sensor and the speed sensor may be disposed on the vehicle body 100, and their specific placement is not limited. The steering angle sensor may be configured to measure the steering information of the wheels 200 and transmit the steering information to the control unit, and the speed sensor may be configured to measure the travel speed of the wheels 200 and transmit the travel speed to the control unit.

[0096] According to an embodiment of the present invention, when the driving speed of the wheel 200 is greater than a first predetermined speed and the control unit determines that the wheel 200 is turning to the right based on the steering information, the control unit controls the attitude control motor 232 to raise the connection point between the first planetary gear 222a of the wheel 200 on the left side of the vehicle body 100 and the vehicle body 100 to a position higher than the center point of the wheel 200 (e.g., raised to the highest point or raised to any position higher than the center point of the wheel 200), and / or to lower the connection point between the first planetary gear 222a of the wheel 200 on the right side of the vehicle body 100 and the vehicle body 100 to a position lower than the center point of the wheel 200 (e.g., lowered to the lowest point or lowered to any position lower than the center point of the wheel 200). When the speed of wheel 200 exceeds a first predetermined speed and the control unit determines that wheel 200 is turning left based on steering information, the control unit controls the attitude control motor 232 to raise the connection point between the first planetary gear 222a of the wheel 200 on the right side of the vehicle body 100 and the vehicle body 100 above the center point of wheel 200 (e.g., to the highest point or any position above the center point of wheel 200), and / or to lower the connection point between the first planetary gear 222a of the wheel 200 on the left side of the vehicle body 100 and the vehicle body 100 below the center point of wheel 200 (e.g., to the lowest point or any position below the center point of wheel 200). The specific value of the first predetermined speed is not limited, but can be determined based on the wheelbase of the attitude-controllable vehicle 1000, etc.

[0097] Based on the above control strategy, when the attitude-controllable vehicle 1000 turns left, if the driving speed is high, the height of the right side of the vehicle 100 can be increased and / or the height of the left side of the vehicle 100 can be decreased (e.g., ...). Figure 10 As shown, in Figure 10 In the diagram (where the direction pointing inwards is the driving direction), this helps to resist the lateral acceleration of the vehicle body 100 when turning left, thus improving lateral stability. Similarly, when the attitude-controllable vehicle 1000 turns right, if the driving speed is high, the height of the left side of the vehicle body 100 can be increased and / or the height of the right side of the vehicle body 100 can be decreased, which helps to resist the lateral acceleration of the vehicle body 100 when turning right, thus improving lateral stability.

[0098] According to an embodiment of the present invention, when the driving speed is greater than a second predetermined speed, the control unit controls the attitude control motor 232, causing the connection point between the first planetary gear 222a of all wheels 200 and the vehicle body 100 to be lowered below the center point of the wheels 200. The specific values ​​of the first predetermined speed and the second predetermined speed can be determined based on actual testing of the attitude-controllable vehicle 1000.

[0099] Based on the above control strategy, when the driving speed is high, the height of the vehicle body can be reduced by 100, thereby improving the grip performance of the attitude-controllable vehicle 1000 and enhancing driving safety.

[0100] According to an embodiment of the present invention, the attitude-controllable vehicle 1000 may further include a road condition sensor, which is configured to measure the road conditions of the vehicle and transmit the road conditions to the control unit. As an example, the road condition sensor may be mounted on the vehicle body 100, and the specific location of the road condition sensor on the vehicle body 100 is not limited. The road conditions may be information about the road surface of the attitude-controllable vehicle 1000, including but not limited to the flatness of the road surface, the width of the road, and whether the road surface is flooded.

[0101] According to an embodiment of the present invention, when the control unit determines that the vehicle is traveling uphill based on road conditions, the control unit can control the attitude control motor 232 to raise the connection point between the first planetary gear 222a of the rear wheel 200 of the vehicle body 100 and the vehicle body 100 to a position higher than the center point of the wheel 200 (e.g., raised to the highest point or raised to any position higher than the center point of the wheel 200). Figure 11 As shown, the left side corresponds to the front of vehicle body 100, and the rear side corresponds to the rear of vehicle body 100. According to the above control strategy, when the attitude-controllable vehicle 1000 is going uphill, the rear height of vehicle body 100 can be increased to improve the passability when going uphill.

[0102] According to an embodiment of the present invention, when the control unit determines that the vehicle is traveling in adverse road conditions based on the road conditions, the control unit controls the attitude control motor 232 to raise the connection point between the first planetary gear 222a of all wheels 200 and the vehicle body 100 to a position higher than the center point of the wheels 200 (e.g., raised to the highest point or raised to any position higher than the center point of the wheels 200). Figure 12 As shown. Severe road conditions can refer to road surfaces with accumulated water, snow, or potholes. Based on the above control strategy, when the attitude-controllable vehicle 1000 is traveling in severe road conditions, the height of the vehicle body 100 is increased, thereby improving the vehicle's passability in such conditions.

[0103] According to an embodiment of the present invention, when the control unit determines that the vehicle is turning on a narrow road section based on driving conditions and steering information, the control unit can control the attitude control motor 232 such that the connection point between the first planetary gear 222a of the front wheel 200 of the vehicle body 100 and the vehicle body 100 is located in front of the center point of the wheel 200 (e.g., the connection point is located at the foremost position of the center point of the wheel 200 or any position further forward than the center point), and the connection point between the first planetary gear 222a of the rear wheel 200 of the vehicle body 100 and the vehicle body 100 is located behind the center point of the wheel 200 (e.g., the connection point is located at the rearmost position of the center point of the wheel 200 or any position further backward than the center point). Figure 13 As shown. Based on the above control strategy, the wheelbase of the attitude-controllable vehicle can be reduced by 1000, which is beneficial for turning in narrow alleys.

[0104] When the control unit determines that the vehicle is traveling on a wide road based on road conditions, the control unit can control the attitude control motor 232 so that the connection point between the first planetary gear 222a of the front wheel 200 of the vehicle body 100 and the vehicle body 100 is located behind the center point of the wheel 200 (for example, the connection point is located at the very rear of the center point of the wheel 200 or any position further back than the center point), and the connection point between the first planetary gear 222a of the rear wheel 200 of the vehicle body 100 and the vehicle body 100 is located in front of the center point of the wheel 200 (for example, the connection point is located at the very front of the center point of the wheel 200 or any position further forward than the center point). Figure 14 As shown. Based on the above control strategy, the wheelbase of the attitude-controllable vehicle can be increased by 1000, which is beneficial to improving the vehicle's driving comfort.

[0105] Figure 15 A schematic diagram of the steering of a posture-controllable vehicle according to an embodiment of the present invention is shown. Figure 15 As shown, when the attitude controllable vehicle 1000 turns, the control unit can control the steering control motor 233, so that the steering control motor 233 drives the steering mechanism assembly 234, the attitude control motor 232 and the wheels 200 to turn as a whole.

[0106] In addition to the sensors described above, the attitude-controllable vehicle 1000 according to embodiments of the present invention may also include various other sensors as needed, such as vehicle body Hall sensors, current sensors, etc.

[0107] The type of vehicle for the attitude-controllable vehicle 1000 according to embodiments of the present invention is not specifically limited, as long as the structure described above can be applied. For example, depending on the application, the attitude-controllable vehicle 1000 can be a logistics vehicle, a sedan, a toy car, a small mobility scooter, etc. For example, depending on the power source, the attitude-controllable vehicle 1000 can be a gasoline vehicle, a hybrid vehicle, a pure electric vehicle, etc.

[0108] The attitude-controllable vehicle 1000 described above can achieve beneficial technical effects, not limited to those described below.

[0109] According to an embodiment of the present invention, the attitude-controllable vehicle can achieve attitude adjustment using a planetary gear mechanism.

[0110] According to embodiments of the present invention, a posture-controllable vehicle can change its posture based on driving information (e.g., road conditions, steering information, driving speed, etc.) to improve driving safety and / or comfort.

[0111] According to an embodiment of the present invention, the attitude-controllable vehicle can adjust the vehicle body height and wheelbase to improve the vehicle's passability and longitudinal stability.

[0112] Although exemplary embodiments of the invention have been specifically described with reference to exemplary embodiments thereof, those skilled in the art should understand that various changes in form and detail may be made thereto without departing from the spirit and scope of the invention as defined by the claims.

Claims

1. A posture-controllable vehicle, characterized in that, The attitude-controllable vehicle (1000) includes: Vehicle body (100); Multiple wheels (200), each wheel (200) includes a wheel body (210) and a planetary gear mechanism (220) disposed inside the wheel body (210). The planetary gear mechanism (220) includes a sun gear (221), at least three planetary gears (222) surrounding and meshing with the sun gear (221), a planet carrier (224) supporting the planetary gears (222), and an external gear ring (223) surrounding and meshing with the at least three planetary gears (222). The vehicle body (100) is connected to a first planetary gear (222a) of the at least one planetary gear (222). Multiple drive units (230) are used to drive the multiple wheels (200), and each drive unit (230) includes an attitude control motor (232) for driving the first planetary gear (222a) to rotate the planet carrier (224), thereby changing the position of the wheel body (210) relative to the vehicle body (100). The sun gear (221) is mounted on the central shaft (220a) of the planetary gear mechanism (220), and the central shaft (220a) and the external gear ring (223) are fixed. The sun gear (221) and the central shaft (220a) are a revolute pair and the planet carrier (224) and the central shaft (220a) are fixed, or the sun gear (221) and the central shaft (220a) are fixed and the planet carrier (224) and the central shaft (220a) are a revolute pair.

2. The attitude-controllable vehicle according to claim 1, characterized in that, Each drive unit (230) also includes a drive motor (231) for driving the wheel body (210) to rotate in the forward / reverse direction.

3. The attitude-controllable vehicle according to claim 1, characterized in that, Each drive unit (230) also includes a steering control motor (233) for steering the wheels (200).

4. The attitude-controllable vehicle according to claim 2, characterized in that, The wheel body (210) includes a tire (211) and a hub (212) disposed on the axially outer side of the tire (211) and supporting the tire (211). The drive shaft (231a) of the driving motor (231) is fixed to the hub (212) to drive the tire (211) to rotate around the drive shaft (231a) of the driving motor (231).

5. The attitude-controllable vehicle (1000) according to claim 4, characterized in that, The tire (211) is fitted on the radially outer side of the outer toothed ring (223), and the tire (211) is rotatable relative to the outer toothed ring (223).

6. The attitude-controllable vehicle according to claim 5, characterized in that, The driving motor (231) is disposed inside the central shaft (220a) of the planetary gear mechanism (220), and the housing of the driving motor (231) is fixed to the inner wall of the central shaft (220a).

7. The attitude-controllable vehicle according to claim 1, characterized in that, The planetary carrier (224) includes: An inner planetary carrier (224a) supports and covers the at least three planetary gears (222) on the side of the wheel (200) facing the vehicle body (100), and the outer diameter of the inner planetary carrier (224a) is larger than the inner diameter of the outer gear ring (223). The outer planetary carrier (224b) is located inside the outer gear ring (223).

8. The attitude-controllable vehicle according to claim 7, characterized in that, The external gear ring (223) includes an outer circular plate (223a) disposed outside the outer planetary carrier (224b), one end of the central shaft (220a) of the planetary gear mechanism (220) is disposed on the outer circular plate (223a), and the other end protrudes toward the vehicle body (100).

9. The attitude-controllable vehicle according to claim 8, characterized in that, The central axis (220a) passes through the outer planet carrier (224b). The sun gear (221) and the central shaft (220a) are a revolute pair and the outer planet carrier (224b) and the central shaft (220a) are fixed; or the sun gear (221) and the central shaft (220a) are fixed and the outer planet carrier (224b) and the central shaft (220a) are a revolute pair.

10. The attitude-controllable vehicle according to claim 3, characterized in that, The steering control motor (233) and the attitude control motor (232) are connected to the first planetary gear (222a).

11. The attitude-controllable vehicle according to claim 10, characterized in that, The drive unit (230) also includes a steering mechanism assembly (234) connected to the steering control motor (233). The housing of the steering control motor (233) is fixed to the vehicle body (100), and the housing of the attitude control motor (232) is fixed to the steering mechanism assembly (234). The drive shaft of the attitude control motor (232) is connected to the first planetary gear (222a). When steering, the steering control motor (233) drives the steering mechanism assembly (234), the attitude control motor (232), and the wheel (200) to turn as a whole.

12. The attitude-controllable vehicle according to claim 1, characterized in that, The attitude-controllable vehicle (1000) also includes a control unit for controlling the plurality of drive units (230).

13. The attitude-controllable vehicle according to claim 12, characterized in that, The attitude-controllable vehicle (1000) also includes a steering angle sensor and a speed sensor. The steering angle sensor is configured to measure the steering information of the wheels (200) and transmit the steering information to the control unit. The speed sensor is configured to measure the travel speed of the wheels (200) and transmit the travel speed to the control unit. When the driving speed is greater than a first predetermined speed and the control unit determines that the wheel (200) is turning to the right based on the steering information, the control unit controls the attitude control motor (232) to raise the connection point of the first planetary gear (222a) of the wheel (200) on the left side of the vehicle body (100) to a point higher than the center point of the wheel (200), and / or to lower the connection point of the first planetary gear (222a) of the wheel (200) on the right side of the vehicle body (100) to a point lower than the center point of the wheel (200). When the driving speed is greater than the first predetermined speed and the control unit determines that the wheel (200) is turning to the left based on the steering information, the control unit controls the attitude control motor (232) to raise the connection point of the first planetary gear (222a) of the wheel (200) on the right side of the vehicle body (100) to a point higher than the center point of the wheel (200), and / or lower the connection point of the first planetary gear (222a) of the wheel (200) on the left side of the vehicle body (100) to a point lower than the center point of the wheel (200).

14. The attitude-controllable vehicle according to claim 12, characterized in that, The attitude-controllable vehicle (1000) also includes a speed sensor configured to measure the travel speed of the wheels (200) and transmit the travel speed to the control unit. When the driving speed is greater than the second predetermined speed, the control unit controls the attitude control motor (232) so that the connection point between the first planetary gear (222a) of all wheels (200) and the vehicle body (100) is lowered to below the center point of the wheel (200).

15. The attitude-controllable vehicle according to claim 12, characterized in that, The attitude-controllable vehicle (1000) also includes a road condition sensor configured to measure the road conditions under which the attitude-controllable vehicle (1000) travels and transmit the road conditions to the control unit. When the control unit determines that the attitude controllable vehicle (1000) is driving in adverse road conditions based on the driving road conditions, the control unit controls the attitude control motor (232) so that the connection point between the first planetary gear (222a) of all wheels (200) and the vehicle body (100) is raised above the center point of the wheel (200).

16. The attitude-controllable vehicle according to claim 12, characterized in that, The attitude-controllable vehicle (1000) also includes a road condition sensor and a steering angle sensor. The road condition sensor is configured to measure the road conditions of the attitude-controllable vehicle (1000) and transmit the road conditions to the control unit. The steering angle sensor is configured to measure the steering information of the wheels (200) and transmit the steering information to the control unit. When the control unit determines that the attitude-controllable vehicle (1000) is turning in a narrow section of road based on the driving conditions and the steering information, the control unit controls the attitude control motor (232) so that the connection point of the first planetary gear (222a) of the front wheel (200) of the vehicle body (100) with the vehicle body (100) is located in front of the center point of the wheel (200), and the connection point of the first planetary gear (222a) of the rear wheel (200) of the vehicle body (100) with the vehicle body (100) is located behind the center point of the wheel (200). When the control unit determines that the attitude controllable vehicle (1000) is driving on a wide road according to the driving conditions, the control unit controls the attitude control motor (232) so that the connection point of the first planetary gear (222a) of the wheel (200) on the front side of the vehicle body (100) and the vehicle body (100) is located behind the center point of the wheel (200), and the connection point of the first planetary gear (222a) of the wheel (200) on the rear side of the vehicle body (100) and the vehicle body (100) is located in front of the center point of the wheel (200).

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