Novel driving unit based on hub motor

Abstract

The invention provides a novel driving unit based on a hub motor. The novel driving unit comprises a hub, the speed reduction type hub motor, an electronic mechanical braking system, a circulating ball pull rod electric control steering system, a disconnected type double-fork-arm suspension and a novel driving unit shell. The upper end of a steering knuckle of the recirculating ball pull rod electric control steering system is hinged to a suspension upper fork arm, the hinge point serves as an upper positioning point of a virtual steering main pin, the lower end of the steering knuckle is hinged to a disconnected suspension lower fork arm, and the intersection point of extension lines of the disconnected suspension lower fork arm serves as a lower positioning point of the virtual steering main pin. The virtual kingpin steers to release the internal size of a rim so as to facilitate the installation of a speed reduction type hub motor and an electronic mechanical braking system, and the offset distance of the kingpin is reduced to reduce the steering angle envelope and improve the steering portability; the axial size of the recirculating ball pull rod electric control steering system is reduced so as to improve large-turning-angle steering of the steering system. The novel driving unit shell serves as the unique connection of the novel driving unit and the frame, so that the integrity of the novel driving unit and the transportability of the novel driving unit among different vehicle types are improved.

Description

Technical Field

[0001] The invention relates to an electric vehicle wheel module, in particular to a novel travel unit based on a wheel hub motor. Background Art

[0002] The driving unit based on the wheel hub motor is one of the ideal configurations for smart cars. It includes the drive system, brake system, steering system and suspension system, and has the characteristics of high integration and strong expandability. The body can be customized according to actual needs to meet people's various travel and life needs. The driving unit is applied to smart cars, which can give full play to its advantages such as high controllability and strong maneuverability, realize various functions such as in-situ turning and lateral driving, and provide a foundation for fully autonomous vehicles.

[0003] However, in the prior art, the hub motor, brake and steering knuckle in the travel unit based on the hub motor are installed side by side, which makes it difficult to arrange the space inside the wheel. In addition, the axial dimension of the travel unit is large, resulting in poor heat dissipation and increased tire offset. At the same time, the tie rod steering, as one of the main configurations of the travel unit steering system, ensures control robustness but occupies a large amount of axial dimension. In addition, there are many connection points between the various systems of the travel unit and the frame, which affects the body space design and inhibits the portability of the travel unit between different models.

[0004] Therefore, how to improve the structural compactness, steering flexibility and unit portability of the driving unit has become a technical problem that needs to be solved urgently. Summary of the invention

[0005] In order to solve the above technical problems, the present invention provides a new travel unit based on a hub motor, comprising a wheel hub, a reduction-type hub motor, an electronic mechanical braking system, a circulating ball tie rod electronically controlled steering system, a disconnected double wishbone suspension and a new travel unit housing; a tire is provided on the outside of the rim of the wheel hub; the reduction-type hub motor and the electronic mechanical braking system are arranged inside the rim of the wheel hub; the reduction-type hub motor comprises a hub motor and a planetary reducer, the planetary reducer is embedded in the hub motor, and the input end of the planetary reducer is connected to the rotor through-axis of the hub motor. The fixed end of the reduction wheel hub motor is fixedly connected to the lower end of the steering knuckle of the circulating ball tie rod electronically controlled steering system, the rotating end of the reduction wheel hub motor is fixedly connected to one end of the brake disc of the electronic mechanical braking system, and the other end of the brake disc is fixedly connected to the wheel hub; the electronic mechanical braking system includes a brake disc, a brake motor and a brake caliper, the brake motor and the brake caliper are fixedly connected to the wheel hub motor, the brake motor is connected to the brake caliper in a transmission manner, and the brake caliper is sleeved on the side of the brake disc; the circulating ball tie rod electronically controlled steering system includes a steering motor, a circulating ball steering gear, The steering rocker arm, the steering straight tie rod and the steering knuckle, the steering motor and the recirculating ball steering gear are fixedly connected to the inner side of the novel travel unit housing, the steering motor, the recirculating ball steering gear, the steering rocker arm and the steering straight tie rod are connected in sequence, and the steering straight tie rod is hinged to one side of the steering knuckle; the disconnected double wishbone suspension includes an upper fork arm of the suspension, a disconnected lower fork arm of the suspension and a spring shock absorber, the upper end of the steering knuckle is hinged to one end of the upper fork arm of the suspension, and the hinge point is located above the wheel hub as the virtual steering kingpin upper positioning point, and the lower end of the steering knuckle is respectively hinged to one end of the lower fork arm of the disconnected suspension The intersection of the extension lines of the disconnected suspension lower fork arm is located in the wheel hub and serves as the virtual steering kingpin lower positioning point; the other end of the suspension upper fork arm is hinged to the upper part of the new travel unit shell; the other ends of the disconnected suspension lower fork arms are respectively hinged to the lower part of the new travel unit shell; the upper end of the spring shock absorber is hinged to the upper end of the new travel unit shell, and the lower end of the spring shock absorber is hinged to one of the fork arms of the disconnected suspension lower fork arm; the recirculating ball tie rod electronically controlled steering system is arranged in parallel with the spring shock absorber; the outer side of the new travel unit shell is connected to the frame.

[0006] Furthermore, the hub motor comprises a stator housing, a stator, a rotor support frame and a rotor;

[0007] The stator housing is a hollow cylindrical structure with one end open, and a bearing hole is provided at the center of the other end surface; the stator housing is fixedly connected to the lower end of the steering knuckle as the fixed end of the reduction-type wheel hub motor; the stator, rotor support frame and rotor are respectively arranged inside the stator housing;

[0008] The stator is arranged in the inner ring of the stator housing, and the stator comprises a stator core and a coil winding wound on the stator core;

[0009] The rotor support frame is a hollow cylindrical structure with one end open, and a rotor through-shaft is arranged in the center; the rotor support frame is coaxially arranged on the inner ring of the stator, and a gap is arranged between the rotor support frame and the stator; one end of the rotor through-shaft extends from the closed end of the rotor support frame and is pivotally connected to the bearing hole of the stator housing; the other end of the rotor through-shaft is coaxially fixedly connected to the sun gear of the planetary reducer;

[0010] The rotor is arranged on the outer ring of the rotor support frame, and a gap is arranged between the rotor and the stator; the rotor is a permanent magnet.

[0011] Furthermore, the planetary reducer includes a reducer ring gear, a planet carrier, planetary wheels and a sun gear; the reducer ring gear is pivotally connected to the open end of the stator housing of the hub motor through a bearing, and the reducer ring gear serves as the rotating end of the reduction-type hub motor, and its outer side is fixedly connected to the brake disc of the electronic mechanical braking system; the planet carrier is arranged on the inner side of the reducer ring gear, and the planetary wheels are pivotally connected to the planet carrier and meshed with the reducer ring gear; the sun gear is arranged at the center of the reducer ring gear and meshed with each planetary wheel, and the sun gear, as the input end of the planetary reducer, is coaxially fixed to the rotor through shaft.

[0012] Furthermore, the steering knuckle comprises an upper cross arm, a vertical arm, a connecting plate and a lower support arm; the upper cross arm, the vertical arm, the connecting plate and the lower support arm are connected in sequence to form a Z-type steering knuckle; the upper cross arm is hinged to one end of the upper fork arm of the suspension through a vertical pin shaft, and the hinge point is located above the tire, serving as a positioning point on the virtual steering kingpin; a connecting plate is provided at the lower end of the vertical arm, which is connected to the fixed end of the reduction type hub motor through the connecting plate; a steering support arm is also provided on one side of the connecting plate, and the steering support arm is hinged to the steering straight pull rod of the recirculating ball tie rod electric steering system; the lower end of the connecting plate is provided with two lower support arms arranged in parallel in the horizontal direction, and the two lower support arms are respectively hinged to one end of the lower fork arm of the disconnected suspension through a vertical pin shaft.

[0013] Furthermore, the upper fork arm of the suspension is an A-shaped fork arm, the tip of the upper fork arm of the suspension is provided with a vertical axial hole, and the ends of the upper fork arms of the suspension are respectively provided with transverse axial holes; the vertical axial hole of the upper fork arm of the suspension is hinged to the upper cross arm of the steering knuckle through a vertical pin shaft; the transverse axial holes at the ends of the upper fork arm of the suspension are respectively hinged to the inner side wall of the new travel unit shell through transverse pin shafts.

[0014] Furthermore, the disconnected suspension lower wishbone includes two symmetrically arranged single arms, one end of the two single arms are inclined toward each other, the inclined end of the single arm is hinged to one end of the wishbone connecting piece through a transverse pin, and the other end of the wishbone connecting piece is hinged to the lower support arm at the lower end of the steering knuckle through a vertical pin; the other end of the single arm is hinged to the inner wall of the new travel unit shell through a transverse pin; the intersection of the extended lines of the two single arms is located inside the wheel hub, serving as the virtual steering kingpin lower positioning point.

[0015] Furthermore, the new travel unit shell includes a suspension upper connecting wall, a suspension lower connecting wall, a frame upper connecting wall, a frame lower connecting wall and a connector; the suspension upper connecting wall and the suspension lower connecting wall are both located inside the connector and are respectively hinged to one end of the suspension upper fork arm and the disconnected suspension lower fork arm; the frame upper connecting wall and the frame lower connecting wall are both located outside the connector and are fixedly connected to the frame; the upper end of the spring shock absorber is hinged to the upper end of the connector; the steering motor and the recirculating ball steering gear of the recirculating ball tie rod electronic steering system are fixedly installed on the inside of the connector; the new travel unit shell serves as the only component connecting the new travel unit and the frame.

[0016] Working principle of the present invention:

[0017] The present invention provides a novel driving unit based on a wheel hub motor, wherein the reduction-type wheel hub motor and the electronic mechanical brake system are arranged in the wheel rim of the wheel hub, and the steering knuckle, the reduction-type wheel hub motor, the electronic mechanical brake system and the wheel hub are connected in sequence;

[0018] The reduction-type wheel hub motor is used as a drive system to provide driving force for the new travel unit and regenerative braking force through motor reversal;

[0019] The electromechanical braking system provides friction braking force for the new travel unit, and is combined with a deceleration wheel hub motor that provides regenerative braking force to form a dual electric braking system;

[0020] The recirculating ball tie rod electric steering system is connected to the drive system through a steering knuckle and is used for performing large-angle steering with a variable transmission ratio on the new travel unit;

[0021] The disconnected double wishbone suspension is connected to the steering system to form a virtual steering kingpin, and the spring shock absorber of the disconnected double wishbone suspension is used for buffering and shock absorption of the vehicle body.

[0022] The new running unit housing is connected to the steering system and suspension on the inside and to the vehicle frame on the outside, making it the only component that connects the new running unit to the vehicle frame.

[0023] The stator shell of the wheel hub motor plays a supporting and fixing role. The stator core and coil winding of the stator provide field strength to drive the rotor permanent magnet to rotate. The rotor drives the rotor support frame to rotate. The rotor support frame drives the sun gear of the planetary reducer to rotate synchronously through the rotor through-shaft. The sun gear of the planetary reducer is decelerated and torque-increased by the planetary gear and the reducer ring gear, and the rotational torque is output to the brake disc to drive the wheel hub to rotate.

[0024] The planetary reducer of the reduction-type hub motor is completely embedded in the hub motor rotor, and the input end of the planetary reducer is connected to the rotor through-shaft of the hub motor. The planetary reducer is driven by the rotor through-shaft to form an extreme power density.

[0025] The brake caliper in the electronic mechanical braking system has a fixing frame and a brake pad, which is fixed to the deceleration type wheel hub motor through the fixing frame. The brake pads are arranged on both sides of the brake disc. The brake motor drives the brake caliper through the deceleration torque increasing device and the motion conversion device to use the brake pad to close to the brake disc to generate friction to form braking force, and the brake disc drives the wheel hub to decelerate.

[0026] The steering motor in the recirculating ball-tie rod electronically controlled steering system rotates the screw of the recirculating ball steering gear, and the screw converts sliding friction into rolling friction through the recirculating ball to drive the nut to move horizontally and the gear fan to rotate. The gear fan of the recirculating ball steering gear pushes the steering straight tie rod by rotating the steering rocker arm, and pulls the steering knuckle to rotate the wheel. Compared with steering gears of the rack and pinion type and the worm gear type, the recirculating ball steering gear converts the translation of the steering gear output end into rotation, thereby greatly reducing the axial size of the steering system. The recirculating ball-tie rod electronically controlled steering system is arranged in parallel with the spring shock absorber to reduce the occupied space and improve the flexibility of the new type of unit.

[0027] The upper cross arm, vertical arm, connecting plate and lower support arm of the steering knuckle are connected in sequence to form a Z-shaped steering knuckle; the hinge point between the upper cross arm and the upper fork arm of the suspension is located above the tire, serving as a virtual steering kingpin upper positioning point; the lower support arm is rotatably connected to one end of the lower fork arm of the disconnected suspension through a vertical pin shaft.

[0028] The upper fork arm and the lower fork arm of the disconnected double wishbone suspension are respectively connected to the upper cross arm and the lower support arm of the steering knuckle, forming a virtual steering kingpin upper positioning point and a virtual steering kingpin lower positioning point. The line connecting the virtual steering kingpin upper positioning point and the virtual steering kingpin lower positioning point constitutes a virtual steering kingpin, which provides a virtual steering kingpin with zero tire offset distance for the steering system, improves steering flexibility, and releases the internal space of the wheel hub for the arrangement of the deceleration wheel hub motor and the electronic mechanical braking system to improve heat dissipation performance; it is combined with a spring shock absorber for buffering and shock absorption of the vehicle body.

[0029] The upper fork arm of the suspension is an A-shaped fork arm, the tip of which is hinged to the upper cross arm of the steering knuckle through a vertical pin shaft, and the end of which is hinged to the inner wall of the shell of the new travel unit, rather than being directly connected to the frame.

[0030] The two symmetrically arranged single arms of the disconnected suspension lower fork arm are rotatably connected to the lower support arm at the lower end of the steering knuckle through a fork arm connector; the intersection of the extended lines of the two single arms is located in the wheel hub, serving as a virtual steering kingpin lower positioning point; the disconnected suspension lower fork arm has a shorter axial dimension than the integral lower fork arm, which releases the internal space of the wheel hub while reducing the kingpin offset, thereby improving the steering operation flexibility and structural compactness of the new travel unit.

[0031] The new running unit shell is connected to the frame. As the only component connecting the new running unit and the frame, it minimizes the structural coupling effects of the new running unit systems and the frame, thereby improving the portability of the new running unit between different vehicle models and the degree of freedom in body space design.

[0032] Working process of the present invention:

[0033] When driving, the stator housing is a fixed part, and the rotor permanent magnet is acted upon by the magnetic field force formed by the motor winding and the stator core, driving the rotor support frame to rotate synchronously. The rotor is integrated with the planetary reducer through the rotor through-shaft, and the driving torque is transmitted to the wheel hub after being decelerated and amplified by the planetary reducer, providing driving force to drive the new travel unit to travel;

[0034] During braking, the braking force of the new travel unit comes from two sources: the regenerative braking force provided by the wheel hub motor and the friction braking force provided by the electronic mechanical braking system. On the one hand, the regenerative braking force is generated by the reverse driving process of the wheel hub motor. On the other hand, the electronic mechanical braking system in the wheel hub cavity pushes the brake pads of the brake caliper to clamp the brake disc through the brake motor, generating friction braking force. The regenerative braking force generated by the wheel hub motor and the friction braking force generated by the brake disc are transmitted to the tire through the wheel hub, and the two work together to generate ground braking force at the tire to brake the new travel unit to decelerate.

[0035] When turning, after the steering motor receives the steering angle signal from the controller, it transmits the steering torque to the screw of the recirculating ball steering gear through the output shaft. After the recirculating ball steering gear changes the transmission ratio and direction, the steering rocker arm is rotated through the gear fan and drives the steering straight tie rod. The steering straight tie rod pushes and pulls the steering knuckle to realize the wheel rotating around the virtual steering kingpin with zero kingpin offset distance inside the wheel.

[0036] When the wheel bounces, the upper fork arm of the suspension, the disconnected lower fork arm of the suspension and the new travel unit housing can rotate freely relative to each other, and perform normal bounce after being buffered and damped by the spring shock absorber.

[0037] Beneficial effects of the present invention:

[0038] 1. The present invention realizes virtual kingpin steering through the upper fork arm of the suspension, the disconnected lower fork arm of the suspension and the Z-type steering knuckle, releases the inner dimension of the wheel rim to facilitate the installation of the reduction-type wheel hub motor and the electronic mechanical brake system, and reduces the kingpin offset distance to reduce the steering wheel angle envelope and improve the steering portability;

[0039] 2. The present invention adopts a recirculating ball tie rod electric steering system, which greatly reduces the axial size of the tie rod steering, increases the extreme steering angle range, and realizes high steering flexibility of the new travel unit vehicle;

[0040] 3. The present invention designs a new running unit shell, one side of which is connected to the various systems of the new running unit, enveloping the components of the driving system, braking system, steering system and suspension system of the entire running unit; the other side is connected to the frame, becoming the only component connecting the new running unit and the frame, thereby improving the integrity of the new running unit and the portability between different vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0042] Figure 2 It is a schematic diagram of the decomposition structure of the present invention;

[0043] Figure 3 It is a schematic diagram of the structure of the reduction wheel hub motor and the electronic mechanical brake system of the present invention;

[0044] Figure 4 This is a schematic diagram of the inner structure of the wheel hub of the present invention;

[0045] Figure 5 This is a schematic diagram of the structure of the recirculating ball tie rod electric control steering system of the present invention;

[0046] Figure 6 It is a schematic diagram of the structure of the disconnected double wishbone suspension of the present invention;

[0047] Figure 7 It is a schematic diagram of the upper wishbone structure of the suspension of the present invention;

[0048] Figure 8 It is a schematic diagram of the partial structure of the steering knuckle and the upper wishbone of the suspension of the present invention;

[0049] Fig. 9 This is a schematic diagram of the structure of the housing of the novel travel unit of the present invention;

[0050] 1. Wheel hub;

[0051] 2. Speed ​​reduction hub motor 201, hub motor 202, planetary reducer 203, stator housing 204, stator 205, rotor support frame 206, rotor 207, rotor through shaft 208, reducer gear ring 209, planet carrier 210, planetary gear 211, sun gear;

[0052] 3. Electromechanical brake system 301, brake disc 302, brake motor 303, brake caliper;

[0053] 4. Circulating ball tie rod electric control steering system 401, steering motor 402, circulating ball steering gear 403, steering rocker arm 404, steering straight tie rod 405, steering knuckle 406, upper cross arm 407, vertical arm 408, connecting plate 409, lower support arm 410, steering support arm;

[0054] 5. Disconnected double wishbone suspension 501, suspension upper wishbone 502, disconnected suspension lower wishbone 503, spring shock absorber 504, vertical shaft hole 505, transverse shaft hole 506, first single arm 507, second single arm 508, wishbone connecting piece;

[0055] 6. New travel unit housing 601, suspension upper connecting wall 602, suspension lower connecting wall 603, frame upper connecting wall 604, frame lower connecting wall 605, and connector. DETAILED DESCRIPTION

[0056] See also Figure 1-9 As shown: The present invention provides a new travel unit based on a hub motor, comprising a wheel hub 1, a reduction-type hub motor 2, an electronic mechanical braking system 3, a circulating ball tie rod electronically controlled steering system 4, a disconnected double wishbone suspension 5 and a new travel unit housing 6; a tire is provided on the outside of the rim of the wheel hub 1; the reduction-type hub motor 2 and the electronic mechanical braking system 3 are arranged inside the rim of the wheel hub 1.

[0057] like Figure 3 As shown: the reduction-type wheel hub motor 2 comprises a wheel hub motor 201 and a planetary reducer 202; the planetary reducer 202 is completely embedded in the wheel hub motor 201; the wheel hub motor 201 comprises a stator housing 203, a stator 204, a rotor support frame 205 and a rotor 206; the stator housing 203 is a hollow cylindrical structure with an opening at one end, and a bearing hole is provided at the center of the other end surface; the stator housing 203, as the fixed end of the reduction-type wheel hub motor 2, is fixedly connected to the lower end of the steering knuckle 405 by bolts; the stator 204, the rotor support frame 205 and the rotor 206 are respectively arranged inside the stator housing 203; the stator 204 is arranged in the stator housing The inner ring of the stator 203, the stator 204 includes a stator core and a coil winding wound on the stator core; the rotor support frame 205 is a hollow cylindrical tube structure with one end open, and a rotor through-axis 207 is provided in the center; the rotor support frame 205 is coaxially arranged on the inner ring of the stator 204, and a gap is provided between the rotor support frame 205 and the stator 204; one end of the rotor through-axis 207 extends from the closed end of the rotor support frame 205 and is pivotally connected to the bearing hole of the stator housing 203; the other end of the rotor through-axis 207 is coaxially fixedly connected to the sun gear 211 of the planetary reducer 202; the rotor 206 is arranged on the outer ring of the rotor support frame 205, and a gap is provided between the rotor 206 and the stator 204; the rotor 206 is a permanent magnet.

[0058] The planetary reducer 202 includes a reducer ring gear 208, a planet carrier 209, a planetary gear 210 and a sun gear 211; the reducer ring gear 208 is pivotally connected to the open end of the stator housing 203 of the hub motor 201 through a bearing; the reducer ring gear 208 serves as the rotating end of the reduction-type hub motor 2, and its outer side is fixedly connected to the brake disc 301 of the electronic mechanical braking system 3, and the other end of the brake disc 301 is fixedly connected to the hub 1; the planet carrier 209 is arranged on the inner side of the reducer ring gear 208, and the planetary gear 210 is pivotally connected to the planet carrier 209 and meshed with the reducer ring gear 208; the sun gear 211 is arranged at the center of the reducer ring gear 208 and meshed with each planetary gear 210; the sun gear 211, as the input end of the planetary reducer 202, is coaxially fixedly connected to the rotor through shaft 207.

[0059] The electronic mechanical braking system 3 includes a brake disc 301, a brake motor 302 and a brake caliper 303; the brake motor 302 and the brake caliper 303 are fixedly connected to the wheel hub motor 201, the brake motor 302 is transmission-connected to the brake caliper 303 via a deceleration torque-increasing device and a motion conversion device, and the brake caliper 303 is sleeved on the side of the brake disc 301.

[0060] like Figure 5 As shown: the recirculating ball tie rod electric control steering system 4 includes a steering motor 401, a recirculating ball steering gear 402, a steering rocker arm 403, a steering straight tie rod 404 and a steering knuckle 405; the steering motor 401 is fixedly connected to the inner side of the novel travel unit housing 6, the output end of the steering motor 401 is connected to the input end screw of the recirculating ball steering gear 402, the output end of the recirculating ball steering gear 402 is connected to the steering rocker arm 403, the steering rocker arm 403 is hinged to the steering straight tie rod 404, and the steering straight tie rod 404 is hinged to one side of the steering knuckle 405.

[0061] The steering knuckle 405 includes an upper cross arm 406, a vertical arm 407, a connecting plate 408 and a lower support arm 409; the upper cross arm 406, the vertical arm 407, the connecting plate 408 and the lower support arm 409 are sequentially connected to form a Z-shaped steering knuckle 405; the upper cross arm 406 is hinged to one end of the upper fork arm 501 of the suspension through a vertical pin shaft, and the hinge point is located above the tire as a virtual steering kingpin upper positioning point; the lower end of the vertical arm 407 is provided with a connecting plate 408, through the connecting plate 408 It is connected to the stator housing 203 of the reduction-type hub motor 2 by bolts; a steering arm 410 is also provided on one side of the connecting plate 408 (in this embodiment, it can be the side in the forward direction of the vehicle), and the steering arm 410 is hinged to the steering straight rod 404 of the recirculating ball tie rod electric steering system 4; the lower end of the connecting plate 408 is provided with two lower arms 409 arranged in parallel in the horizontal direction, and the two lower arms 409 are respectively hinged to one end of the disconnected suspension lower fork arm 502 through a vertical pin shaft.

[0062] like Figure 6 As shown in the figure: the disconnected double wishbone suspension 5 comprises an upper wishbone 501, a disconnected suspension lower wishbone 502 and a spring shock absorber 503; the upper end of the steering knuckle 405 is hinged to one end of the upper wishbone 501, and the hinge point is located above the wheel hub 1, serving as a virtual steering kingpin upper positioning point; the lower end of the steering knuckle 405 is respectively hinged to one end of the disconnected suspension lower wishbone 502, and the intersection of the extended lines of the disconnected suspension lower wishbone 502 is located in the wheel hub 1, serving as a virtual steering kingpin upper positioning point. The lower positioning point of the pin; the other end of the upper fork arm 501 of the suspension is hinged to the upper part of the new travel unit shell 6; the other end of the disconnected suspension lower fork arm 502 is hinged to the lower part of the new travel unit shell 6; the upper end of the spring shock absorber 503 is hinged to the upper end of the new travel unit shell 6, and the lower end of the spring shock absorber 503 is hinged to one of the fork arms of the disconnected suspension lower fork arm 502; the recirculating ball tie rod electronic steering system 4 is arranged in parallel with the spring shock absorber 503.

[0063] like Figure 7 As shown: the upper fork arm 501 of the suspension is an A-shaped fork arm, the tip of the upper fork arm 501 is provided with a vertical shaft hole 504, and the ends of the upper fork arm 501 are respectively provided with transverse shaft holes 505; the vertical shaft hole 504 of the upper fork arm 501 is hinged with the upper cross arm 406 of the steering knuckle 405 through a vertical pin shaft, as shown in FIG. Figure 8 As shown; the transverse axis hole 505 at the end of the suspension upper fork arm 501 is hinged to the inner wall of the new travel unit housing 6 through a transverse pin.

[0064] The disconnected suspension lower fork arm 502 includes a first single arm 506 and a second single arm 507; the first single arm 506 and the second single arm 507 are symmetrically arranged; one end of the first single arm 506 and the second single arm 507 are inclined toward each other, the inclined end of the single arm is hinged to one end of the fork arm connecting member 508 through a transverse pin, and the other end of the fork arm connecting member 508 is hinged to the lower support arm 409 at the lower end of the steering knuckle 405 through a vertical pin; the other end of the single arm is hinged to the inner wall of the new travel unit shell 6 through a transverse pin; the intersection of the extended lines of the first single arm 506 and the second single arm 507 is located in the wheel hub 1 as a virtual steering kingpin lower positioning point; in this embodiment, the lower end of the spring shock absorber 503 is hinged to the second single arm 507.

[0065] like Fig. 9As shown: the novel travel unit shell 6 includes a suspension upper connecting wall 601, a suspension lower connecting wall 602, a frame upper connecting wall 603, a frame lower connecting wall 604 and a connector 605; the suspension upper connecting wall 601 and the suspension lower connecting wall 602 are both located on the inner side of the connector 605, and are respectively hinged to one end of the suspension upper fork arm 501 and the disconnected suspension lower fork arm 502; the frame upper connecting wall 603 and the frame lower connecting wall 604 are both located on the outer side of the connector 605, and are fixedly connected to the frame; the upper end of the spring shock absorber 503 is hinged to the upper end of the connector 605; the steering motor 401 and the recirculating ball steering gear 402 of the recirculating ball tie rod electric steering system 4 are fixedly installed on the inner side of the connector 605.

[0066] Working principle of the present invention:

[0067] The present invention provides a novel driving unit based on a wheel hub motor, wherein the reduction-type wheel hub motor 2 and the electronic mechanical brake system 3 are arranged in the wheel rim of the wheel hub 1, and the steering knuckle 405, the reduction-type wheel hub motor 2, the electronic mechanical brake system 3 and the wheel hub 1 are connected in sequence;

[0068] The reduction wheel hub motor 2 serves as a drive system, providing driving force for the new travel unit and regenerative braking force through motor reversal;

[0069] The electronic mechanical brake system 3 provides friction braking force for the new travel unit, and is combined with the deceleration wheel hub motor 2 that provides regenerative braking force to form a dual electric brake system;

[0070] The recirculating ball tie rod electric control steering system 4 is connected to the drive system through the steering knuckle 405, and is used for performing large-angle steering with variable transmission ratio on the new travel unit;

[0071] The suspension upper fork arm 501 and the disconnected suspension lower fork arm 502 are respectively connected to the steering knuckle 405 to form a virtual steering kingpin upper positioning point and a virtual steering kingpin lower positioning point. The line connecting the virtual steering kingpin upper positioning point and the virtual steering kingpin lower positioning point constitutes a virtual steering kingpin, which releases the internal space of the wheel hub 1 for the arrangement of the deceleration type wheel hub motor 2 and the electronic mechanical brake 3 to improve the heat dissipation performance, and provides a virtual steering kingpin with zero tire offset for the steering system to improve the steering flexibility.

[0072] The planetary reducer 202 of the reduction-type hub motor 2 is completely embedded in the rotor support frame 205 of the hub motor 201. The input end of the planetary reducer 202 is connected to the rotor through-shaft 207 of the hub motor 201. The planetary reducer is driven by the rotor through-shaft 207 to form an extreme power density.

[0073] The stator housing 203 of the hub motor 201 plays a supporting and fixing role. The stator core and coil winding of the stator 204 provide field strength to drive the permanent magnet of the rotor 206 to rotate. The rotor 206 drives the rotor support frame 205 to rotate. The rotor support frame 205 drives the sun gear 211 of the planetary reducer 202 to rotate synchronously through the rotor through shaft 207; the sun gear 211 of the planetary reducer 202 is decelerated and torque-increased by the planetary gear 210 and the reducer ring gear 208, and the torque is output to the brake disc 301, thereby driving the hub 1 to rotate.

[0074] The brake caliper 303 in the electronic mechanical brake system 3 has a fixing frame and a brake pad, which is fixed to the reduction-type wheel hub motor 2 through the fixing frame. The brake pads are arranged on both sides of the brake disc 301. The brake motor 302 drives the brake caliper 303 through the deceleration torque increasing device and the motion conversion device to generate friction and form braking force by using the brake pad close to the brake disc 301, and the brake disc 301 drives the wheel hub 1 to decelerate.

[0075] The steering motor 401 in the recirculating ball-tie rod electric control steering system 4 rotates the screw of the recirculating ball steering gear 402, and the screw converts the sliding friction into rolling friction through the recirculating ball to drive the nut to move horizontally and the gear fan to rotate. The gear fan of the recirculating ball steering gear 402 pushes the steering straight rod 404 by rotating the steering rocker arm 403, and pulls the steering knuckle 405 to rotate the wheel; compared with other types of steering gears such as rack and pinion type and worm gear type, the recirculating ball steering gear 402 converts the translation of the steering gear output end into rotation, thereby greatly reducing the axial size of the steering system; the recirculating ball-tie rod electric control steering system 4 is arranged in parallel with the spring shock absorber 503, which reduces the occupied space and improves the flexibility of the new type of unit.

[0076] The upper cross arm 406, vertical arm 407, connecting plate 408 and lower support arm 409 of the steering knuckle 405 are connected in sequence to form a Z-type steering knuckle 405; the hinge point between the upper cross arm 406 and the upper fork arm 501 of the suspension is located above the tire, serving as a virtual steering kingpin upper positioning point; the connecting plate 408 at the lower end of the steering knuckle 405 is rotatably connected to one end of the disconnected suspension lower fork arm 502 through two lower support arms 409 arranged in parallel in the horizontal direction through a vertical pin shaft.

[0077] The suspension upper fork arm 501 is an A-shaped fork arm, the tip of which is hinged to the upper cross arm 406 of the steering knuckle 405 through a vertical pin shaft, and the end of which is hinged to the inner wall of the new travel unit housing 6, rather than being directly connected to the frame.

[0078] The two symmetrically arranged single arms of the disconnected suspension lower fork arm 502 are rotatably connected to the lower support arm 409 at the lower end of the steering knuckle 405 through a fork arm connector 508; the intersection of the extended lines of the two single arms is located inside the wheel hub 1, serving as a virtual steering kingpin lower positioning point; the disconnected suspension lower fork arm 502 shortens the axial dimension of the lower fork arm compared to the integral lower fork arm, thereby reducing the kingpin offset distance and releasing the internal space of the wheel hub 1, thereby improving the structural compactness and steering operation flexibility of the new travel unit; and it is combined with the spring shock absorber 503 for buffering and shock absorption of the vehicle body.

[0079] The new running unit housing 6 is connected to the vehicle frame. As the only component connecting the new running unit and the vehicle frame, it minimizes the structural coupling effects between the various systems of the new running unit and the vehicle frame, thereby improving the portability of the new running unit between different vehicle models and the degree of freedom in vehicle body space design.

[0080] Working process of the present invention:

[0081] During driving, the stator housing 203 is a fixed part, and the permanent magnet of the rotor 206 is acted upon by the magnetic field force formed by the motor winding and the stator core, driving the rotor 206 to rotate synchronously. The rotor 206 is integrated with the planetary reducer through the rotor through-shaft 207, and the driving torque is transmitted to the wheel hub 1 after being decelerated and increased by the planetary reducer, providing driving force to drive the new travel unit to travel;

[0082] During braking, the braking force of the new travel unit comes from two sources: the regenerative braking force provided by the wheel hub motor 201 and the friction braking force provided by the electronic mechanical brake system 3; on the one hand, the regenerative braking force is generated by the reverse driving process of the wheel hub motor 201; on the other hand, the electronic mechanical brake system 3 in the wheel hub 1 cavity pushes the brake pad of the brake caliper 303 to clamp the brake disc 301 through the brake motor 302, thereby generating friction braking force; the regenerative braking force generated by the wheel hub motor 201 and the friction braking force generated by the brake disc 301 are transmitted to the tire through the wheel hub 1, and the two work together to generate ground braking force at the tire to brake the new travel unit to decelerate;

[0083] When turning, after the steering motor 401 receives the steering angle signal from the controller, it transmits the steering torque to the screw of the recirculating ball steering gear 402 through the output shaft. After the recirculating ball steering gear 402 changes the transmission ratio and direction, it rotates the steering rocker arm 403 through the gear fan and drives the steering straight tie rod 404. The steering straight tie rod 404 pushes and pulls the steering knuckle 405 to realize the wheel rotating around the virtual steering kingpin with zero kingpin offset distance inside the wheel;

[0084] When the wheel bounces, the suspension upper fork arm 501, the disconnected suspension lower fork arm 502 and the novel travel unit housing 6 can rotate freely relative to each other, and bounce normally after being buffered and damped by the spring shock absorber 503.

Claims

1. A new type of driving unit based on wheel hub motor, characterized by: It includes a wheel hub, a reduction wheel hub motor, an electronic mechanical braking system, a recirculating ball tie rod electronically controlled steering system, a disconnected double wishbone suspension and a new travel unit housing; a tire is provided on the outside of the wheel hub rim; the reduction wheel hub motor and the electronic mechanical braking system are arranged in the wheel hub rim; the reduction wheel hub motor includes a wheel hub motor and a planetary reducer, the planetary reducer is embedded in the wheel hub motor, and the input end of the planetary reducer is connected to the rotor through-shaft of the wheel hub motor; the fixed end of the reduction wheel hub motor is fixedly connected to the lower end of the steering knuckle of the recirculating ball tie rod electronically controlled steering system, the rotating end of the reduction wheel hub motor is fixedly connected to one end of the brake disc of the electronic mechanical braking system, and the other end of the brake disc is fixedly connected to the wheel hub; the electronic mechanical braking system includes a brake disc, a brake motor and a brake caliper, the brake motor and the brake caliper are fixedly connected to the wheel hub motor, the brake motor is transmission-connected to the brake caliper, and the brake caliper is sleeved on the side of the brake disc; the recirculating ball tie rod electronically controlled steering system includes a steering motor, a recirculating ball steering gear, a steering rocker arm, a steering straight tie rod and a steering knuckle, the The steering motor and the recirculating ball steering gear are fixedly connected to the inner side of the new travel unit housing, the steering motor, the recirculating ball steering gear, the steering rocker arm and the steering straight tie rod are connected in sequence, and the steering straight tie rod is hinged to one side of the steering knuckle; the disconnected double wishbone suspension includes a suspension upper fork arm, a disconnected suspension lower fork arm and a spring shock absorber, the upper end of the steering knuckle is hinged to one end of the suspension upper fork arm, and the hinge point is located above the wheel hub as the virtual steering kingpin upper positioning point, the lower end of the steering knuckle is respectively hinged to one end of the disconnected suspension lower fork arm, and the disconnected suspension lower fork arm is hinged to one end of the disconnected suspension lower fork arm. The intersection of the extension lines of the arms is located inside the wheel hub and serves as the lower positioning point of the virtual steering kingpin; the other end of the upper fork arm of the suspension is hinged to the upper part of the new travel unit shell; the other end of the lower fork arm of the disconnected suspension is hinged to the lower part of the new travel unit shell respectively; the upper end of the spring shock absorber is hinged to the upper end of the new travel unit shell, and the lower end of the spring shock absorber is hinged to one of the fork arms of the disconnected suspension lower fork arm; the recirculating ball tie rod electronically controlled steering system is arranged in parallel with the spring shock absorber; the outer side of the new travel unit shell is connected to the frame.

2. According to claim 1, a novel driving unit based on a hub motor is characterized in that: The hub motor comprises a stator shell, a stator, a rotor support frame and a rotor; the stator shell is a hollow cylindrical tube structure with an opening at one end, and a bearing hole is provided at the center of the other end surface; the stator shell is fixedly connected to the lower end of the steering knuckle as the fixed end of the reduction-type hub motor; the stator, rotor support frame and rotor are respectively arranged inside the stator shell; the stator is arranged in the inner ring of the stator shell, and the stator comprises a stator core and a coil winding wound on the stator core; the rotor support frame is a hollow cylindrical tube structure with an opening at one end, and a rotor through-shaft is provided at the center; the rotor support frame is coaxially arranged on the inner ring of the stator, and a gap is provided between the rotor and the stator; one end of the rotor through-shaft extends from the closed end of the rotor support frame and is pivotally connected to the bearing hole of the stator shell; the other end of the rotor through-shaft is coaxially fixedly connected to the sun gear of the planetary reducer; the rotor is arranged on the outer ring of the rotor support frame, and a gap is provided between the rotor and the stator; the rotor is a permanent magnet.

3. According to claim 1, a novel driving unit based on a hub motor is characterized in that: The planetary reducer includes a reducer ring gear, a planet carrier, planetary wheels and a sun gear; the reducer ring gear is pivotally connected to the open end of the stator housing of the hub motor through a bearing, and the reducer ring gear serves as the rotating end of the reduction-type hub motor, and its outer side is fixedly connected to the brake disc of the electronic mechanical brake; the planet carrier is arranged on the inner side of the reducer ring gear, and the planetary wheels are pivotally connected to the planet carrier and meshed with the reducer ring gear; the sun gear is arranged at the center of the reducer ring gear and meshed with each planetary wheel; the sun gear, as the input end of the planetary reducer, is coaxially fixed to the rotor through-shaft.

4. According to claim 1, a novel driving unit based on a hub motor is characterized in that: The steering knuckle comprises an upper cross arm, a vertical arm, a connecting plate and a lower arm; the upper cross arm, the vertical arm, the connecting plate and the lower arm are connected in sequence to form a Z-type steering knuckle; the upper cross arm is hinged to one end of the upper fork arm of the suspension through a vertical pin shaft, and the hinge point is located above the tire, serving as a virtual steering kingpin upper positioning point; a connecting plate is provided at the lower end of the vertical arm, which is connected to the fixed end of the reduction type wheel hub motor through the connecting plate; a steering arm is also provided on one side of the connecting plate, and the steering arm is hinged to the steering straight tie rod of the circulating ball tie rod electric control steering system; the lower end of the connecting plate is provided with two lower arms arranged in parallel in the horizontal direction, and the two lower arms are respectively hinged to one end of the lower fork arm of the disconnected suspension through a vertical pin shaft.

5. According to claim 1, a novel travel unit based on a hub motor is characterized in that: The upper fork arm of the suspension is an A-shaped fork arm, the tip of the upper fork arm of the suspension is provided with a vertical axis hole, and the ends of the upper fork arms of the suspension are respectively provided with transverse axis holes; the vertical axis hole of the upper fork arm of the suspension is hinged to the upper cross arm of the steering knuckle through a vertical pin shaft; the transverse axis holes at the ends of the upper fork arm of the suspension are respectively hinged to the upper connecting wall of the suspension on the inner side of the new travel unit shell through transverse pin shafts.

6. The novel driving unit based on the wheel hub motor according to claim 1 is characterized in that: The disconnected suspension lower wishbone includes two symmetrically arranged single arms, one end of the two single arms are inclined toward each other, the inclined end of the single arm is hinged to one end of the wishbone connecting piece through a transverse pin, and the other end of the wishbone connecting piece is hinged to the lower support arm at the lower end of the steering knuckle through a vertical pin; the other end of the single arm is hinged to the suspension lower connecting wall on the inner side of the new travel unit shell through a transverse pin; the intersection of the extended lines of the two single arms is located inside the wheel hub, serving as the virtual steering kingpin lower positioning point.

7. The novel travel unit based on the wheel hub motor according to claim 1 is characterized in that: The novel travel unit shell comprises a suspension upper connecting wall, a suspension lower connecting wall, a frame upper connecting wall, a frame lower connecting wall and a connector; the suspension upper connecting wall and the suspension lower connecting wall are both located inside the connector and are respectively hinged to one end of the suspension upper fork arm and the disconnected suspension lower fork arm; the frame upper connecting wall and the frame lower connecting wall are both located outside the connector and are fixedly connected to the frame; the upper end of the spring shock absorber is hinged to the upper end of the connector; the steering motor and the recirculating ball steering gear of the recirculating ball tie rod electronically controlled steering system are fixedly installed inside the connector.

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