Electric wheel edge steering driving module

Abstract

The invention provides an electric wheel edge steering driving module which comprises a steering driving assembly, a traveling driving assembly and a braking assembly, the traveling driving assembly comprises a driving motor and a first planetary gear reducer, the driving motor is in transmission with wheels through the first planetary gear reducer, and the braking assembly is used for braking the wheels. The steering driving assembly comprises a shell, a main pin shaft, a steering motor, a worm gear reducer and two sets of second planetary gear reducers, and the shell is fixed to a motor end cover of the driving motor. A steering motor is fixedly connected with a driving motor, and the two motors output through respective speed reducers respectively. And a speed reducer of the steering motor is arranged in the main pin shaft. According to the method, interference between the wheels and parts such as a suspension guide mechanism and a steering pull rod in the rotating process is avoided. According to the vehicle provided with the structure, the wheels can rotate by 90 degrees, so that the flexibility of the vehicle is greatly improved, and the requirement of the vehicle on the driving space is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of vehicle chassis, in particular to an electric wheel-side steering drive module. Background Art

[0002] At present, most electric vehicles are driven by central motors or wheel-side drives, and the chassis structure uses the transmission, steering, and suspension methods of traditional vehicles. The wheels cannot steer independently, the vehicle has a large turning radius, and the motor occupies a large chassis space. After the rise of the wire-controlled chassis, the hub motor has attracted more and more attention due to its many advantages. Vehicles equipped with hub motors do not require differentials, transmissions, and drive shafts, which can greatly simplify the chassis structure, thereby providing more installation space for other electrical components and improving space utilization; and the speed of each wheel can be controlled independently, which can achieve a variety of complex drive forms.

[0003] Modern urban traffic has many cars, many people, narrow roads, and limited driving space, which puts higher requirements on vehicle performance. If the vehicle can achieve 90-degree steering of all wheels, the turning radius can be greatly reduced, and the vehicle can achieve a variety of complex movement modes such as lateral movement, diagonal driving, steering in a narrow space, and turning on the spot. However, due to the limitation of the structure, the steering angle of traditional suspension is generally between ±40°.

[0004] To this end, various suspension structures that can achieve 90-degree steering of all wheels have been proposed at home and abroad, for example: China Publication No.: CN 110949498 B discloses an electric vehicle and a wheel hub structure integrating steering and suspension, including a steering mechanism, a suspension mechanism and a driving and braking mechanism. Each wheel of the electric vehicle can be independently driven and braked, and 360-degree steering can be achieved through a steering motor.

[0005] The above technical solution provides an integrated steering and suspension structure, in which the steering motor is separated from the drive motor, and has insufficient integration and no steering redundancy design. Summary of the invention

[0006] 1. Technical issues to be resolved

[0007] In view of the deficiencies in the prior art, the present invention provides an electric wheel-side steering drive module, which solves the problems raised in the above-mentioned background technology.

[0008] (II) Technical solution

[0009] To achieve the above objectives, the present invention is implemented through the following technical solutions: an electric wheel-side steering drive module, used to drive wheel steering, including a steering drive component, a driving drive component, and a braking component. The driving drive component includes a driving motor and a planetary gear reducer 1, and the driving motor is transmitted to the wheel through the planetary gear reducer 1. The braking component is used to brake the wheel. The steering drive component includes a housing, a kingpin shaft, a steering motor, a worm gear reducer and two sets of planetary gear reducers 2. The housing is fixed on the motor end cover of the driving motor. The two sets of planetary gear reducers 2, the worm gear of the worm gear reducer, and the kingpin shaft are coaxially arranged in the housing. The upper and lower ends of the kingpin shaft are fixed on the vehicle body or the suspension. The steering motor is arranged on the housing, and the output end is connected to the worm of the worm gear reducer.

[0010] Preferably, there are two steering motors, and the two steering motors drive the worm in a coaxial series manner.

[0011] Preferably, the steering drive assembly is fixedly connected to the driving drive assembly.

[0012] Preferably, a rotation angle sensor for feeding back the actual rotation angle of the wheel is arranged between the worm gear and the lower planetary gear reducer 2.

[0013] Preferably, the worm gear is fixedly connected to the kingpin shaft. The sun gear of the second planetary gear reducer is arranged on the kingpin shaft; the planet carrier is used as the output end and is arranged on the kingpin shaft through a bearing sleeve.

[0014] (III) Beneficial effects

[0015] The present invention provides an electric wheel steering drive module, which has the following beneficial effects:

[0016] 1. The electric wheel-side steering drive module connects the steering motor and the drive motor, and the two motors are output through their respective reducers. And the reducer of the steering motor is arranged inside the kingpin shaft. This method avoids interference with the suspension guide mechanism, steering rod and other components during the rotation of the wheel. The wheels of the vehicle equipped with this structure can achieve 90° rotation, which greatly improves the flexibility of the vehicle and reduces the vehicle's demand for driving space. At the same time, the present invention has a steering redundancy design. The steering part uses two motors to drive, and when one of the steering motors is damaged, part of the steering torque can still be retained. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is the overall axonometric diagram of the present invention;

[0018] Figure 2 It is a schematic diagram of the interior of the housing of the present invention;

[0019] Figure 3This is a plan view of the steering drive module of the present invention;

[0020] Figure 4 It is an exploded view of each component of the present invention;

[0021] Figure 5 This is a diagram of a steering drive module for two sets of steering motors of the present invention.

[0022] In the figure: 1 steering drive assembly, 2 driving drive assembly, 3 brake assembly, 4 wheel, 11 steering motor, 12 planetary gear reducer 2, 13 worm gear reducer, 131 worm wheel, 132 worm, 14 rotation angle sensor, 15 bearing, 16 oil seal, 17 end cover, 18 housing, 19 kingpin shaft, 31 caliper, 32 brake disc, 21 drive motor, 22 planetary gear reducer 1. DETAILED DESCRIPTION

[0023] An embodiment of the present invention provides an electric wheel steering drive module, such as Figure 1-5 As shown, it is used to drive the wheel 4 to turn, and includes a steering drive component 1, a driving drive component 2, and a brake component 3. The steering drive component 1 and the driving drive component 2 are fixedly connected together.

[0024] The vehicle driving assembly 2 includes a driving motor 21 and a planetary gear reducer 22. The driving motor 21 is an inner rotor hub motor. The driving motor 21 is driven by the wheel 4 through the planetary gear reducer 22. The planetary gear reducer 22 is integrated with the driving motor 21 to reduce the axial space occupied by the vehicle driving assembly. The planetary carrier of the planetary gear reducer 22 is used as the power output end, and bolts and stopper structures for fixing the wheel 4 are arranged on it.

[0025] like Figure 1 and Figure 4 As shown, the brake assembly 3 is used to brake the wheel 4. Specifically, the brake assembly 3 includes a brake disc 32 and a caliper 31 adapted on the brake disc 32, and the planetary carrier of the planetary gear reducer 22 is provided with bolt holes for fixing the brake disc 32. The brake disc 32 is connected to the planetary carrier of the planetary gear reducer 22. The rear end cover of the drive motor 21 is provided with bolt holes for fixing the caliper 31, and the caliper 31 is connected to the motor end cover of the drive motor 21. The power line, signal line and cooling water pipe of the drive motor 21 are all arranged on the rear end cover.

[0026] like Figure 2 and 4As shown, the steering drive assembly 1 includes a housing 18, a kingpin shaft 19, a steering motor 11, a worm gear reducer 13 and two sets of planetary gear reducers 12. The housing 18 is fixed to the end cover of the drive motor 21 through four bolt holes on the periphery. The two sets of planetary gear reducers 12, the worm 131 of the worm gear reducer 13, and the kingpin shaft 19 are coaxially arranged in the housing 18. The upper and lower ends of the kingpin shaft 19 extend out of the housing 18 and are fixed to the vehicle body or the suspension. The steering motor 11 is arranged on the housing 18, and the output end is connected to the worm 132 of the worm gear reducer 13.

[0027] The worm gear 131 is fixedly connected to the kingpin shaft 19. The sun gear of the planetary gear reducer 12 is set on the kingpin shaft 19; the planet carrier is the output end and is sleeved on the kingpin shaft 19 through the bearing 15. Bolt holes are set on the planet carrier for external suspension mechanism. End covers 17 are set at both ends of the housing 18, and the kingpin shaft 19 and the end cover 17 are sealed by an oil seal 16.

[0028] The drive motor 21 and the steering motor 11 output torque via mutually independent reduction mechanisms.

[0029] The steering motor 11 is fixedly connected to the drive motor 21, and the two motors are output through their respective reducers. The reducer of the steering motor 11 is set inside the kingpin. This method avoids the interference of the suspension guide mechanism, steering rod and other parts during the rotation of the wheel 5. The vehicle equipped with this structure can achieve a 90° rotation of the wheel, which greatly improves the flexibility of the vehicle and reduces the vehicle's demand for driving space.

[0030] There are two steering motors 11, which are arranged horizontally and connected to both ends of the worm 132. The two steering motors 11 drive the worm 132 in a coaxial series manner. The steering has a redundant design, and when one of the motors is damaged, part of the steering torque can still be retained.

[0031] A rotation angle sensor 14 for feeding back the actual rotation angle of the wheel is arranged between the worm gear 131 and the lower planetary gear reducer 2 12 .

[0032] Another embodiment of the present invention, as Figure 5 As shown, two groups of steering motors 11 can be provided, and two groups of worm gear reducers 13 are correspondingly provided in the housing 18. Two groups of steering motors can be used for heavy-load vehicles with large steering force requirements.

[0033] The present invention proposes a vehicle, which is equipped with the above-mentioned electric wheel-side steering drive module. The vehicle has four of the above-mentioned electric wheel-side steering drive modules, and the four electric wheel-side steering drive modules are independent of each other. Since each wheel is independent of each other, the vehicle can realize a variety of complex driving modes such as Ackerman driving, wedge driving, arc driving, lateral driving and on-site steering.

[0034] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An electric wheel-side steering drive module, used for driving a wheel (4) to steer, comprising a steering drive assembly (1), a driving drive assembly (2), and a braking assembly (3), wherein the driving drive assembly (2) comprises a driving motor (21) and a planetary gear reducer (22), the driving motor (21) is driven by the wheel (4) through the planetary gear reducer (22), and the braking assembly (3) is used for braking the wheel (4), characterized in that: The steering drive assembly (1) comprises a housing (18), a kingpin shaft (19), a steering motor (11), a worm gear reducer (13) and two sets of planetary gear reducers (12); the housing (18) is fixed on the motor end cover of the drive motor (21); the two sets of planetary gear reducers (12), the worm gear (131) of the worm gear reducer (13) and the kingpin shaft (19) are coaxially arranged in the housing (18); the upper and lower ends of the kingpin shaft (19) are fixed on the vehicle body or the suspension; the steering motor (11) is arranged on the housing (18), and the output end is connected to the worm (132) of the worm gear reducer (13).

2. The electric wheel steering drive module according to claim 1, characterized in that: There are two steering motors (11), and the two steering motors (11) drive the worm (132) in a coaxial series manner.

3. The electric wheel steering drive module according to claim 1, characterized in that: The steering drive assembly (1) is fixedly connected to the vehicle driving assembly (2).

4. The electric wheel steering drive module according to claim 1, characterized in that: A rotation angle sensor (14) for feeding back the actual rotation angle of the wheel is arranged between the worm gear (131) and the lower planetary gear reducer 2 (12).

5. The electric wheel steering drive module according to claim 1, characterized in that: The worm wheel (131) is fixedly connected to the kingpin shaft (19). The sun gear of the second planetary gear reducer (12) is arranged on the kingpin shaft (19); the planet carrier is used as the output end and is sleeved on the kingpin shaft (19) through a bearing (15).

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