Driving, braking, rotating and suspending integrated drive-by-wire chassis shaft module with adjustable electric control wheel tread

Abstract

The invention provides an electrically-controlled wheel-track-adjustable driving, braking, rotating and suspending integrated drive-by-wire chassis shaft module which is arranged at a variable-configuration drive axle module, a wheel track adjusting module of the chassis shaft module comprises a wheel track adjusting mechanism based on a turn-back type electric cylinder, the wheel track adjusting mechanism comprises the electric cylinder and a telescopic shaft, the electric cylinder is fixed to an upper frame of the chassis shaft module, and the telescopic shaft is fixed to the upper frame of the chassis shaft module. The telescopic shaft is fixed to a lower bottom plate of the chassis shaft module, the length of the upper frame is changed through axial displacement of an electric cylinder lead screw, and the upper frame drives the telescopic shaft of the lower bottom plate to stretch out and draw back. The axial size of the axle module is changed to adjust the wheel track of the axle module of the chassis; a wheel track adjusting control system of the wheel track adjusting mechanism comprises a displacement sensor installed at an electric cylinder, when the wheel track is adjusted, the displacement sensor detects the axial displacement length of an electric cylinder lead screw, and after length data are processed through an ECU, the ECU controls the working condition of a motor in the electric cylinder through PWM to achieve wheel track control. The chassis wheel track can be accurately adjusted, and good universality is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of vehicles, and in particular to a drive-control-rotation-suspension integrated wire-controlled chassis axle module with electronically controlled adjustable wheelbase. Background Art

[0002] The independently drivable axle module has a high development prospect in reconfigurable vehicles. The independently drivable axle module has high flexibility and maneuverability by using wire control technology, which greatly improves the application prospect of the axle module. However, the configuration of the independently drivable axle module in the prior art is very simple, the overall frame is fixed, and different types of vehicles have different parameter requirements for the axle module, so that the same axle module can only be used in the same type of vehicle, which reduces the application scenarios of the independently drivable axle module. The production of different types of axle modules for different vehicles increases the production cost. Summary of the invention

[0003] The present invention provides a drive-control-transmission-suspension-integrated wire-controlled chassis axle module with adjustable electronically controlled wheelbase, which can accurately adjust the chassis wheelbase and has good versatility.

[0004] The present invention adopts the following technical solutions.

[0005] A drive-brake-swivel-suspension integrated wire-controlled chassis axle module with an electronically controlled adjustable wheelbase, the chassis axle module being arranged at a drive axle module of a variable configuration, the wheelbase adjustment module of the chassis axle module comprising a wheelbase adjustment mechanism based on a reciprocating electric cylinder, the wheelbase adjustment mechanism comprising an electric cylinder and a telescopic shaft, the electric cylinder being fixed at an upper frame of the chassis axle module, the telescopic shaft being fixed at a lower bottom plate of the chassis axle module, the length of the upper frame being changed by the axial displacement of an electric cylinder lead screw connected to the electric cylinder, and the upper frame driving the telescopic shaft of the lower bottom plate to extend and retract, so that the axial dimension of the axle module is changed to adjust the wheelbase of the chassis axle module; the wheelbase adjustment control system of the wheelbase adjustment mechanism comprising a displacement sensor installed at the electric cylinder, when adjusting the wheelbase, the displacement sensor detects the axial displacement length of the electric cylinder lead screw, after the length data is processed by an ECU, the ECU uses a PWM control strategy to control the motor working condition in the electric cylinder to achieve control of the wheelbase adjustment mechanism.

[0006] The chassis shaft module includes a drive module, a steering module, a brake module, a suspension module, a control module, and a wheelbase adjustment module; The drive module includes A drive wheel, B drive wheel, A wheel hub motor, B wheel hub motor, and power battery; The steering module includes a steering motor, a steering tie rod, a steering clevis, an electric cylinder, and a locking mechanism; The brake module includes a disc brake, a brake disc, an oil pressure distributor, and a brake pump; The suspension module includes an upper swing arm, a lower swing arm, and a shock-absorbing spring; The control module of the wheelbase adjustment control system includes a motor controller and an ECU; The wheelbase adjustment module includes an electric cylinder, a bearing, a telescopic shaft module, and a locking mechanism, and uses the frame of the chassis shaft module as a mounting structure.

[0007] In the driving module, the A hub motor and the B hub motor are both fixedly mounted on the steering horn, and the output end of the A hub motor is fixedly connected to the A driving wheel by bolts; the output end of the B hub motor is fixedly connected to the B driving wheel by bolts; the A driving wheel and the B driving wheel are symmetrically mounted on both sides of the frame; The power battery is fixedly mounted on the bottom plate of the frame, and the motor controller supplies power to the A hub motor and the B hub motor.

[0008] In the steering module, the steering motor is fixedly mounted on the frame bottom plate, and the output end of the steering motor is connected to the steering tie rod using a spline sleeve; the steering tie rod ball head is connected to the steering clevis side hole, and electric cylinders are added on both sides of the steering tie rod of the steering module, and the length of the steering tie rod is adjusted by the axial displacement of the electric cylinder lead screw to achieve the change of the steering tie rod length.

[0009] In the brake module, the disc brake is fixedly connected to the steering horn by bolts; the brake disc is fixedly connected to the input end of each wheel hub motor by bolts; the hydraulic distributor is fixedly connected to the frame bottom plate by bolts, and the output oil port of the hydraulic distributor is connected to the oil input port of the disc brake by a copper tube; the brake pump is fixedly connected to the frame bottom plate by bolts, and the output oil port of the brake pump is connected to the input oil port of the hydraulic distributor by a copper tube.

[0010] In the suspension module, the upper swing arm is fixedly connected to the upper frame on the side of the frame by using a lifting ear, and the swing arm ball head is connected to the upper hole position of the steering horn; the lower swing arm is fixedly connected to the lower frame on the side of the frame by using a lifting ear, and the lower swing arm ball head is connected to the lower hole position of the steering horn; the upper hole position of the shock absorber spring is connected to the upper plate of the frame by using a lifting ear; the lower hole position of the shock absorber spring is connected to the lower swing arm.

[0011] In the wheelbase adjustment module, the telescopic shaft module includes a plurality of parallel telescopic shafts, the base of the telescopic shaft is embedded and installed in the shaft module bottom plate, and a shaft hole is opened in the bottom plate of the drive axle module on the other side, so that the telescopic shaft can move freely in the chassis shaft module floor on the other side; The electric cylinder is embedded in the upper frame profile of the shaft module, the bearing is embedded in the upper frame on the other side of the chassis shaft module, the outer diameter of the bearing matches the profile component, the electric cylinder lead screw matches the inner diameter of the bearing, the locking mechanism is installed on the electric cylinder, and the telescopic shaft is embedded in the bottom plate of the chassis shaft module; The bottom of the electric cylinder is fixedly connected to the profile of the upper frame of the shaft module, the outer diameter of the bearing is fixedly installed in the upper frame on the other side, the inner diameter of the bearing matches the shaft at the front end of the electric cylinder lead screw, and the wheelbase adjustment mechanism is installed in the front and rear upper frames of the drive axle module; When the motor in the electric cylinder is working, it drives the lead screw to rotate and cause axial displacement, so that the upper frames on both sides are displaced in the axial direction under the action of the lead screw, driving the drive axle module frames on both sides to displace, and the telescopic shaft in the drive axle module bottom plate will move in the bottom plate shaft hole under the action of the drive axle module frame; The locking mechanism is a slot-type locking mechanism controlled by a relay; the steering mechanism and the wheelbase adjustment mechanism are both equipped with locking mechanisms, which are used to lock other mechanisms after they meet the working conditions, so as to achieve safe and reliable operation; The locking mechanism works in such a way that when the locking member is attracted by the magnetic force of the electromagnet so that its end is separated from the locking groove of the locking member, the locking mechanism is unlocked; when the electromagnet is powered off, the return spring drives the locking member to insert into the locking groove of the locking member so that the locking mechanism is in a locked state.

[0012] The return spring and electromagnet in the locking mechanism are installed at the lower end of the locking mechanism housing. The locking piece is fixedly connected to the upper end of the return spring, and the locking groove is on the outer edge of the lead screw. The relay controls the on and off of the current in the electromagnet. When the electromagnet is powered on, it attracts the locking piece to compress the return spring so that the tip of the locking piece and the locking groove are closely matched to achieve locking. When the electromagnet is powered off, the locking piece loses its attraction and returns to its initial position under the action of the return spring, ending the locking effect.

[0013] A module function reconstruction method for an integrated drive-brake-transmission-suspension-by-wire chassis axle module with electronically controlled adjustable wheelbase, wherein the wheelbase adjustment mechanism of the drive axle module is adapted to different types of vehicles through the module function reconstruction method, specifically: each functional module is installed using a standard quick-connect interface, and the functional modules are replaced according to the requirements of different vehicle models; the base plate of the chassis axle module is spliced ​​with profiles, and each profile is provided with continuous mounting holes for adding new functional modules at any position of the base plate of the axle module or realizing functional rearrangement, so as to improve the versatility of the chassis axle module.

[0014] In the method, the axial length of the chassis axle module is adjusted by the electric cylinder in the upper frame of the chassis axle module and the telescopic shaft in the lower base plate, and the wheelbase of the chassis axle module is fixed after being locked by a locking mechanism; the frame of the chassis axle module is constructed using profiles, and the radial size of the chassis axle module is expanded by splicing the profiles at the outer edge of the frame, thereby forming a variable configuration of the chassis axle module to improve the versatility of the chassis axle module.

[0015] In the method, during the wheelbase adjustment process, the ECU adjusts the operation of the motor in the electric cylinder through the PWM control strategy, and uses the displacement sensor to detect the displacement of the lead screw in real time and transmit the obtained data to the ECU. When the lead screw reaches the required position, the electric cylinder motor stops working, and the ECU controls the power supply system to supply power to the locking mechanism, so that the locking mechanism works to complete the locking and fixing of the axial displacement of the lead screw, thereby realizing system control.

[0016] The adjustable wheelbase mechanism of the drive axle module in the solution of the present invention can be applied to different types of vehicles. In view of the different performance requirements of different vehicles for the modules in the drive axle module, the present invention proposes a module function reconstruction method. The functional modules used are all installed using standard quick-connect interfaces, and the functional modules can be replaced according to the requirements of different vehicle models. The bottom plate of the shaft module is spliced ​​with profiles, and continuous installation holes are used in each profile. New functional modules can be added at any position of the bottom plate of the shaft module or functional re-layout can be achieved, which greatly improves the versatility of the shaft module.

[0017] The present invention adopts a drive axle module with a variable configuration, which can increase the axial length of the axle module through the electric cylinder in the upper frame of the axle module and the telescopic shaft in the lower base plate, and fix the wheelbase of the axle module after locking through a locking mechanism. The axle module frame is built with profiles, and the profiles can be spliced ​​at the outer edge of the frame to expand the radial size of the axle module, complete the variable configuration of the axle module, and greatly improve the versatility of the axle module.

[0018] The present invention adopts a wheelbase adjustment control system with an integrated displacement sensor. During the wheelbase adjustment process, the ECU adjusts the motor in the electric cylinder through the PWM control strategy, and the displacement sensor detects the displacement of the lead screw in real time and transmits the obtained data to the ECU. When the lead screw reaches the required position, the electric cylinder motor stops working and the ECU controls the power supply system to the locking mechanism. The locking mechanism works to lock and fix the axial displacement of the lead screw, and can complete the precise control of the entire system.

[0019] The axle module of the present invention can be reconstructed and applied to different types of vehicles, thereby expanding the application scenarios of the independent driving axle module. There is no need to produce different types of axle modules for different vehicles, thus reducing production costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments: Attached Figure 1 is a schematic diagram of the present invention; Attached Figure 2 is a schematic diagram of a brake module in the present invention; Attached Figure 3 is a schematic diagram of the locking mechanism; Attached Figure 4is a schematic diagram of a locking mechanism for an upper frame of a wheelbase adjustment module; Attached Figure 5 It is a schematic diagram of the lower frame of the wheelbase adjustment module; Attached Figure 6 It is an enlarged schematic diagram of the steering mechanism on the left side of the chassis; Attached Figure 7 It is an enlarged schematic diagram of the steering mechanism on the right side of the chassis; Attached Figure 8 is a cross-sectional schematic diagram of the steering mechanism; In the figure: 1-A driving wheel; 2-B driving wheel; 3-A wheel hub motor; 4-B wheel hub motor; 5-steering mechanism; 6-upper swing arm; 7-lower swing arm; 8-shock absorber spring; 9-steering motor; 10-steering horn; 11-brake pump; 12-power battery; 13-upper frame; 14-lower bottom plate; 101-electric cylinder; 102-electric cylinder screw; 103-bearing; 104-profile; 105-telescopic shaft. DETAILED DESCRIPTION

[0021] As shown in the figure, a drive-brake-transfer-suspension integrated wire-controlled chassis axle module with adjustable wheelbase is provided. The chassis axle module is provided at a drive axle module of a variable configuration. The wheelbase adjustment module of the chassis axle module includes a wheelbase adjustment mechanism based on a reciprocating electric cylinder. The wheelbase adjustment mechanism includes an electric cylinder 101 and a telescopic shaft 105. The electric cylinder is fixed at an upper frame 13 of the chassis axle module. The telescopic shaft is fixed at a lower bottom plate 14 of the chassis axle module. The length of the upper frame is changed by the axial displacement of an electric cylinder lead screw 102 connected to the electric cylinder, and the upper frame drives the telescopic shaft of the lower bottom plate to extend and retract, so that the axial size of the axle module is changed to adjust the wheelbase of the chassis axle module. The wheelbase adjustment control system of the wheelbase adjustment mechanism includes a displacement sensor installed at the electric cylinder. When adjusting the wheelbase, the displacement sensor detects the axial displacement length of the electric cylinder lead screw. After the length data is processed by the ECU, the ECU uses a PWM control strategy to control the motor working condition in the electric cylinder to achieve control of the wheelbase adjustment mechanism.

[0022] The chassis shaft module includes a drive module, a steering module, a brake module, a suspension module, a control module, and a wheelbase adjustment module; The drive module includes an A drive wheel 1, a B drive wheel 2, an A hub motor 3, a B hub motor 4, and a power battery 12; The steering module includes a steering motor 9, a steering tie rod, a steering clevis 10, an electric cylinder 101, and a locking mechanism; The brake module includes a disc brake, a brake disc, an oil pressure distributor, and a brake pump 11; The suspension module includes an upper swing arm 6, a lower swing arm 7, and a shock absorbing spring 8; The control module of the wheelbase adjustment control system includes a motor controller and an ECU; The wheelbase adjustment module includes an electric cylinder, a bearing 103, a telescopic shaft module, and a locking mechanism, and uses the frame of the chassis shaft module as a mounting structure.

[0023] In the driving module, the A hub motor and the B hub motor are both fixedly mounted on the steering horn, and the output end of the A hub motor is fixedly connected to the A driving wheel by bolts; the output end of the B hub motor is fixedly connected to the B driving wheel by bolts; the A driving wheel and the B driving wheel are symmetrically mounted on both sides of the frame; The power battery is fixedly mounted on the bottom plate of the frame, and the motor controller supplies power to the A hub motor and the B hub motor.

[0024] In the steering module, the steering motor is fixedly mounted on the frame bottom plate, and the output end of the steering motor is connected to the steering tie rod using a spline sleeve; the steering tie rod ball head is connected to the steering clevis side hole, and electric cylinders are added on both sides of the steering tie rod of the steering module, and the length of the steering tie rod is adjusted by the axial displacement of the electric cylinder lead screw to achieve the change of the steering tie rod length.

[0025] In the brake module, the disc brake is fixedly connected to the steering horn by bolts; the brake disc is fixedly connected to the input end of each wheel hub motor by bolts; the hydraulic distributor is fixedly connected to the frame bottom plate by bolts, and the output oil port of the hydraulic distributor is connected to the oil input port of the disc brake by a copper tube; the brake pump is fixedly connected to the frame bottom plate by bolts, and the output oil port of the brake pump is connected to the input oil port of the hydraulic distributor by a copper tube.

[0026] In the suspension module, the upper swing arm is fixedly connected to the upper frame on the side of the frame by using a lifting ear, and the swing arm ball head is connected to the upper hole position of the steering horn; the lower swing arm is fixedly connected to the lower frame on the side of the frame by using a lifting ear, and the lower swing arm ball head is connected to the lower hole position of the steering horn; the upper hole position of the shock absorber spring is connected to the upper plate of the frame by using a lifting ear; the lower hole position of the shock absorber spring is connected to the lower swing arm.

[0027] In the wheelbase adjustment module, the telescopic shaft module includes a plurality of parallel telescopic shafts, the base of the telescopic shaft is embedded and installed in the shaft module bottom plate, and a shaft hole is opened in the bottom plate of the drive axle module on the other side, so that the telescopic shaft can move freely in the chassis shaft module floor on the other side; The electric cylinder is embedded in the upper frame profile of the shaft module, the bearing is embedded in the upper frame on the other side of the chassis shaft module, the outer diameter of the bearing matches the profile component, the electric cylinder lead screw matches the inner diameter of the bearing, the locking mechanism is installed on the electric cylinder, and the telescopic shaft is embedded in the bottom plate of the chassis shaft module; The bottom of the electric cylinder is fixedly connected to the profile of the upper frame of the shaft module, the outer diameter of the bearing is fixedly installed in the upper frame on the other side, the inner diameter of the bearing matches the shaft at the front end of the electric cylinder lead screw, and the wheelbase adjustment mechanism is installed in the front and rear upper frames of the drive axle module; When the motor in the electric cylinder is working, it drives the lead screw to rotate and cause axial displacement, so that the upper frames on both sides are displaced in the axial direction under the action of the lead screw, driving the drive axle module frames on both sides to displace, and the telescopic shaft in the drive axle module bottom plate will move in the bottom plate shaft hole under the action of the drive axle module frame; The locking mechanism is a slot-type locking mechanism controlled by a relay; the steering mechanism and the wheelbase adjustment mechanism are both equipped with locking mechanisms, which are used to lock other mechanisms after they meet the working conditions, so as to achieve safe and reliable operation; The locking mechanism works in such a way that when the locking member is attracted by the magnetic force of the electromagnet so that its end is separated from the locking groove of the locking member, the locking mechanism is unlocked; when the electromagnet is powered off, the return spring drives the locking member to insert into the locking groove of the locking member so that the locking mechanism is in a locked state.

[0028] The return spring and electromagnet in the locking mechanism are installed at the lower end of the locking mechanism housing. The locking piece is fixedly connected to the upper end of the return spring, and the locking groove is on the outer edge of the lead screw. The relay controls the on and off of the current in the electromagnet. When the electromagnet is powered on, it attracts the locking piece to compress the return spring so that the tip of the locking piece and the locking groove are closely matched to achieve locking. When the electromagnet is powered off, the locking piece loses its attraction and returns to its initial position under the action of the return spring, ending the locking effect.

[0029] A module function reconstruction method for an integrated drive-brake-transmission-suspension-by-wire chassis axle module with electronically controlled adjustable wheelbase, wherein the wheelbase adjustment mechanism of the drive axle module is adapted to different types of vehicles through the module function reconstruction method, specifically: each functional module is installed using a standard quick-connect interface, and the functional modules are replaced according to the requirements of different vehicle models; the base plate of the chassis axle module is spliced ​​with profiles 104, and each profile is provided with continuous mounting holes for adding new functional modules at any position of the base plate of the axle module or realizing functional rearrangement to improve the versatility of the chassis axle module.

[0030] In the method, the axial length of the chassis axle module is adjusted by the electric cylinder in the upper frame of the chassis axle module and the telescopic shaft in the lower base plate, and the wheelbase of the chassis axle module is fixed after being locked by a locking mechanism; the frame of the chassis axle module is constructed using profiles, and the radial size of the chassis axle module is expanded by splicing the profiles at the outer edge of the frame, thereby forming a variable configuration of the chassis axle module to improve the versatility of the chassis axle module.

[0031] In the method, during the wheelbase adjustment process, the ECU adjusts the operation of the motor in the electric cylinder through the PWM control strategy, and uses the displacement sensor to detect the displacement of the lead screw in real time and transmit the obtained data to the ECU. When the lead screw reaches the required position, the electric cylinder motor stops working, and the ECU controls the power supply system to supply power to the locking mechanism, so that the locking mechanism works to complete the locking and fixing of the axial displacement of the lead screw, thereby realizing system control.

[0032] Example: This example is based on the above solution and includes the following contents (1) Wheelbase adjustment mechanism based on reversible electric cylinder. The wheelbase adjustment mechanism consists of an electric cylinder, a bearing, and a telescopic shaft. The electric cylinder is embedded in the upper frame profile of the shaft module. The outer diameter of the bearing matches the profile and the inner diameter matches the electric cylinder lead screw. The telescopic shaft is embedded in the lower base plate of the shaft module. The axial displacement of the electric cylinder lead screw drives the length of the upper frame to change, and the upper frame drives the telescopic shaft of the lower base plate to extend.

[0033] (2) Relay-controlled slot-type locking mechanism. The locking mechanism consists of a locking mechanism housing, a locking member, a reset spring, an electromagnet, and a locking slot. The relay controls the electromagnet to generate magnetic force to attract the locking member and compress the reset spring so that the tip of the locking member and the locking slot fit closely together to achieve the locking effect. When the relay disconnects the power supply of the electromagnet, the locking member returns to its initial position under the action of the reset spring, ending the locking effect.

[0034] In this example, the locking groove may be provided at a locking region of the screw rod or the profile.

[0035] (3) Drive axle module function reconstruction method. The drive axle module is divided into a drive module, a steering module, a brake module, a suspension module, and a control module. Each module is installed on the profile frame using a quick-connect interface. The performance of the axle module can be changed by replacing different modules to adapt to the different requirements of different types of vehicles for the axle module. New modules can also be added to the axle module to achieve different functions and improve the versatility of the axle module.

[0036] (4) Drive axle module with variable configuration. An electric cylinder is added to the upper frame of the shaft module, and a telescopic shaft is added to the lower base plate of the shaft module. The motor in the upper frame electric cylinder drives the lead screw to rotate and produce axial displacement. The lower base plate is simultaneously extended in the axial direction under the drive of the upper frame, so that the axial size of the shaft module changes and the wheelbase of the shaft module is increased.

[0037] (5) Wheelbase adjustment control system with integrated displacement sensor. The axial displacement length of the lead screw is measured by the displacement sensor installed in the electric cylinder. After the data is processed by the ECU, the ECU uses the PWM control strategy to control the working state of the motor in the electric cylinder to achieve control of the wheelbase adjustment mechanism.

[0038] The axle module in this example is a chassis axle module, which is composed of a drive module, a steering module, a brake module, a suspension module, a control module, and a wheelbase adjustment module.

[0039] The drive module in this example is composed of drive wheel A, drive wheel B, wheel hub motor A, wheel hub motor B, and power battery; the steering module is composed of steering motor, steering tie rod, steering clevis, electric cylinder, and locking mechanism; the brake module is composed of disc brake, brake disc, oil pressure distributor, and brake pump; the suspension module is composed of upper swing arm, lower swing arm, and shock absorber spring; the motor controller and ECU serve as control modules; the wheelbase adjustment module is composed of electric cylinder, bearing, telescopic shaft, and locking mechanism; and the frame is used as an installation part.

[0040] The A drive motor and the B drive motor are both fixedly mounted on the steering horn, and the output end of the A drive motor is fixedly connected to the A drive wheel using bolts; the output end of the B drive motor is fixedly connected to the B drive wheel using bolts; the A drive wheel and the B drive wheel are symmetrically mounted on both sides of the frame.

[0041] The power battery is fixedly mounted on the frame bottom plate, and the motor controller supplies power to the A drive motor and the B drive motor; the steering motor is fixedly mounted on the frame bottom plate, and the output end of the steering motor is connected to the steering tie rod using a spline sleeve; the steering tie rod ball head is connected to the side hole of the steering horn, and electric cylinders are added to both sides of the steering tie rod of the steering mechanism, and the length of the steering tie rod can be increased by the axial displacement of the electric cylinder lead screw to achieve the change of the steering tie rod length; The disc brake is fixedly connected to the steering horn by bolts; the brake disc is fixedly connected to the input end of the wheel hub motor by bolts; the hydraulic distributor is fixedly connected to the frame bottom plate by bolts, and the output oil port of the hydraulic distributor is connected to the oil input port of the disc brake by a copper tube; the brake pump is fixedly connected to the frame bottom plate by bolts, and the output oil port of the brake pump is connected to the input oil port of the hydraulic distributor by a copper tube; the upper swing arm is fixedly connected to the upper side frame of the frame side by a lifting ear, and the swing arm ball head is connected to the upper hole of the steering horn; the lower swing arm is fixedly connected to the lower side frame of the frame side by a lifting ear, and the lower swing arm ball head is connected to the lower hole of the steering horn; The upper hole of the shock absorbing spring is connected to the upper plate of the frame by using a lifting ear; the lower hole of the shock absorbing spring is connected to the lower swing arm; the electric cylinder is embedded in the upper frame profile of the shaft module, the bearing is embedded in the upper frame on the other side of the shaft module, the lead screw of the electric cylinder is matched with the inner diameter of the bearing, the locking mechanism is installed on the electric cylinder, and the telescopic shaft is embedded in the bottom plate of the shaft module; This example is based on the wheelbase adjustment mechanism of the reciprocating electric cylinder, in which the bottom of the electric cylinder is fixedly installed with the profile of the upper frame of the shaft module, the outer diameter of the bearing is fixedly installed in the upper frame on the other side, and the inner diameter of the bearing cooperates with the shaft at the front end of the electric cylinder lead screw. This mechanism is installed in both the front and rear upper frames of the drive axle module. The telescopic shaft module is composed of multiple telescopic shafts in parallel, and the base of the telescopic shaft is embedded and installed in the bottom plate of the shaft module. An axial hole is opened in the bottom plate of the drive axle module on the other side, and the telescopic shaft can move freely in the floor of the shaft module on the other side. When the motor in the electric cylinder is working, it will drive the lead screw to rotate and cause axial displacement. The upper frames on both sides will cause axial displacement under the action of the lead screw, driving the drive axle module frames on both sides to cause displacement. The telescopic shaft in the bottom plate of the drive axle module will move in the bottom plate axial hole under the action of the drive axle module frame.

[0042] The relay-controlled slot-type locking mechanism in this example. The locking mechanism is installed in both the steering mechanism and the wheelbase adjustment mechanism. The purpose of the locking mechanism is to lock the corresponding mechanism after the other mechanism reaches the working conditions to achieve safe and reliable operation. The reset spring and electromagnet in the locking mechanism are installed at the lower end of the locking mechanism housing. The locking piece is fixedly connected to the upper end of the reset spring, and the locking slot is on the outer edge of the lead screw. The relay controls the on and off of the current in the electromagnet. When the electromagnet is powered on, it attracts the locking piece to compress the reset spring so that the tip of the locking piece and the locking slot are closely matched to achieve locking. When the electromagnet is powered off, the locking piece loses its attraction and returns to its initial position under the action of the reset spring, ending the locking effect.

[0043] The function reconstruction method of the drive axle module in this example is specifically that the wheelbase adjustable mechanism of the drive axle module in this example can be applied to different types of vehicles. In view of the different performance requirements of different vehicles for the modules in the drive axle module, the present invention proposes a module function reconstruction method. The functional modules used are all installed using standard quick-connect interfaces, and the functional modules can be replaced according to the requirements of different vehicle models. The bottom plate of the shaft module is spliced ​​with profiles, and continuous installation holes are used in each profile. New functional modules can be added at any position of the bottom plate of the shaft module or functional re-layout can be achieved, which greatly improves the versatility of the shaft module.

[0044] The drive axle module with variable configuration in this example. The axial length of the shaft module can be increased by the electric cylinder in the upper frame of the shaft module and the telescopic shaft in the lower base plate, and the wheelbase of the shaft module can be fixed after being locked by the locking mechanism. The shaft module frame is built with profiles, and the profiles can be spliced ​​on the outer edge of the frame to expand the radial size of the shaft module, completing the variable configuration of the shaft module and improving the versatility of the shaft module.

[0045] In this example, the wheelbase adjustment control system with integrated displacement sensor. During the wheelbase adjustment process, the ECU adjusts the motor in the electric cylinder through the PWM control strategy. The displacement sensor detects the displacement of the lead screw in real time and transmits the obtained data to the ECU. When the lead screw reaches the required position, the electric cylinder motor stops working and the ECU controls the power supply system to the locking mechanism. The locking mechanism works to lock and fix the axial displacement of the lead screw, completing the control of the entire system.

Claims

1. An electronically controlled wheelbase adjustable drive, brake, rotation and suspension integrated wire-controlled chassis axle module, characterized by: The chassis shaft module is arranged at the drive axle module of variable configuration. The wheelbase adjustment module of the chassis shaft module includes a wheelbase adjustment mechanism based on a reciprocating electric cylinder. The wheelbase adjustment mechanism includes an electric cylinder and a telescopic shaft. The electric cylinder is fixed at the upper frame of the chassis shaft module, and the telescopic shaft is fixed at the lower bottom plate of the chassis shaft module. The axial displacement of the electric cylinder lead screw connected to the electric cylinder drives the length of the upper frame to change, and the upper frame drives the telescopic shaft of the lower bottom plate to extend and retract; so that the axial size of the shaft module changes to adjust the wheelbase of the chassis shaft module; the wheelbase adjustment control system of the wheelbase adjustment mechanism includes a displacement sensor installed at the electric cylinder. When adjusting the wheelbase, the displacement sensor detects the axial displacement length of the electric cylinder lead screw. After the length data is processed by the ECU, the ECU uses a PWM control strategy to control the motor working condition in the electric cylinder to achieve control of the wheelbase adjustment mechanism.

2. The electronically controlled wheelbase adjustable drive, brake, rotation and suspension integrated wire-controlled chassis axle module according to claim 1, characterized in that: The chassis shaft module includes a drive module, a steering module, a brake module, a suspension module, a control module, and a wheelbase adjustment module; The drive module includes A drive wheel, B drive wheel, A wheel hub motor, B wheel hub motor, and power battery; The steering module includes a steering motor, a steering tie rod, a steering clevis, an electric cylinder, and a locking mechanism; The brake module includes a disc brake, a brake disc, an oil pressure distributor, and a brake pump; The suspension module includes an upper swing arm, a lower swing arm, and a shock-absorbing spring; The control module of the wheelbase adjustment control system includes a motor controller and an ECU; The wheelbase adjustment module includes an electric cylinder, a bearing, a telescopic shaft module, and a locking mechanism, and uses the frame of the chassis shaft module as a mounting structure.

3. The electronically controlled wheelbase adjustable drive, brake, rotation and suspension integrated wire-controlled chassis axle module according to claim 2, characterized in that: In the driving module, the A hub motor and the B hub motor are both fixedly mounted on the steering horn, and the output end of the A hub motor is fixedly connected to the A driving wheel by bolts; the output end of the B hub motor is fixedly connected to the B driving wheel by bolts; the A driving wheel and the B driving wheel are symmetrically mounted on both sides of the frame; The power battery is fixedly mounted on the bottom plate of the frame, and the motor controller supplies power to the A hub motor and the B hub motor.

4. The electronically controlled wheelbase adjustable drive, brake, rotation and suspension integrated wire-controlled chassis axle module according to claim 2, characterized in that: In the steering module, the steering motor is fixedly mounted on the frame bottom plate, and the output end of the steering motor is connected to the steering tie rod using a spline sleeve; the steering tie rod ball head is connected to the steering clevis side hole; electric cylinders are added on both sides of the steering tie rod of the steering module, and the length of the steering tie rod is adjusted by the axial displacement of the electric cylinder lead screw to achieve the change of the steering tie rod length.

5. The electronically controlled wheelbase adjustable drive, brake, rotation and suspension integrated wire-controlled chassis axle module according to claim 2, characterized in that: In the brake module, the disc brake is fixedly connected to the steering horn by bolts; the brake disc is fixedly connected to the input end of each wheel hub motor by bolts; the hydraulic distributor is fixedly connected to the frame bottom plate by bolts, and the output oil port of the hydraulic distributor is connected to the oil input port of the disc brake by a copper tube; the brake pump is fixedly connected to the frame bottom plate by bolts, and the output oil port of the brake pump is connected to the input oil port of the hydraulic distributor by a copper tube.

6. The electronically controlled wheelbase adjustable drive, brake, rotation and suspension integrated wire-controlled chassis axle module according to claim 2, characterized in that: In the suspension module, the upper swing arm is fixedly connected to the upper frame on the side of the frame by using a lifting ear, and the swing arm ball head is connected to the upper hole position of the steering horn; the lower swing arm is fixedly connected to the lower frame on the side of the frame by using a lifting ear, and the lower swing arm ball head is connected to the lower hole position of the steering horn; the upper hole position of the shock absorber spring is connected to the upper plate of the frame by using a lifting ear; the lower hole position of the shock absorber spring is connected to the lower swing arm.

7. The electronically controlled wheelbase adjustable drive, brake, rotation and suspension integrated wire-controlled chassis axle module according to claim 2, characterized in that: In the wheelbase adjustment module, the telescopic shaft module includes a plurality of parallel telescopic shafts, the base of the telescopic shaft is embedded and installed in the shaft module bottom plate, and a shaft hole is opened in the bottom plate of the drive axle module on the other side, so that the telescopic shaft can move freely in the chassis shaft module floor on the other side; The electric cylinder is embedded in the upper frame profile of the shaft module, the bearing is embedded in the upper frame on the other side of the chassis shaft module, the outer diameter of the bearing matches the profile component, the electric cylinder lead screw matches the inner diameter of the bearing, the locking mechanism is installed on the electric cylinder, and the telescopic shaft is embedded in the bottom plate of the chassis shaft module; The bottom of the electric cylinder is fixedly connected to the profile of the upper frame of the shaft module, the outer diameter of the bearing is fixedly installed in the upper frame on the other side, the inner diameter of the bearing matches the shaft at the front end of the electric cylinder lead screw, and the wheelbase adjustment mechanism is installed in the front and rear upper frames of the drive axle module; When the motor in the electric cylinder is working, it drives the lead screw to rotate and cause axial displacement, so that the upper frames on both sides are displaced in the axial direction under the action of the lead screw, driving the drive axle module frames on both sides to displace, and the telescopic shaft in the drive axle module bottom plate will move in the bottom plate shaft hole under the action of the drive axle module frame; The locking mechanism is a slot-type locking mechanism controlled by a relay; the steering mechanism and the wheelbase adjustment mechanism are both equipped with locking mechanisms, which are used to lock other mechanisms after they meet the working conditions, so as to achieve safe and reliable operation; The return spring and electromagnet in the locking mechanism are installed at the lower end of the locking mechanism housing. The locking piece is fixedly connected to the upper end of the return spring, and the locking groove is at the outer edge of the lead screw. The on and off of the current in the electromagnet is controlled by a relay. When the electromagnet is energized, it attracts the locking piece to compress the return spring so that the tip of the locking piece and the locking groove fit closely to achieve locking. When the electromagnet is de-energized, the locking piece loses its attraction and returns to its initial position under the action of the return spring, ending the locking effect.

8. A module function reconstruction method for an electronically controlled wheelbase adjustable drive, brake, rotation and suspension integrated wire-controlled chassis axis module, characterized in that: The wheelbase adjustment mechanism of the drive axle module is adapted to different types of vehicles through a module function reconstruction method. Specifically, each functional module is installed using a standard quick-connect interface, and the functional module is replaced according to the requirements of different vehicle models. The base plate of the chassis shaft module is spliced ​​with profiles, and each profile has continuous mounting holes for adding new functional modules at any position of the shaft module base plate or realizing functional rearrangement to improve the versatility of the chassis shaft module.

9. The module function reconstruction method of the electronically controlled wheelbase adjustable drive, brake, rotation and suspension integrated wire-controlled chassis axle module according to claim 8, characterized in that: In the method, the axial length of the chassis axle module is adjusted by the electric cylinder in the upper frame of the chassis axle module and the telescopic shaft in the lower base plate, and the wheelbase of the chassis axle module is fixed after being locked by a locking mechanism; the frame of the chassis axle module is constructed using profiles, and the radial size of the chassis axle module is expanded by splicing the profiles at the outer edge of the frame, thereby forming a variable configuration of the chassis axle module to improve the versatility of the chassis axle module.

10. The module function reconstruction method of the electronically controlled wheelbase adjustable drive, brake, rotation and suspension integrated wire-controlled chassis axle module according to claim 8, characterized in that: In the method, during the wheelbase adjustment process, the ECU adjusts the operation of the motor in the electric cylinder through the PWM control strategy, and uses the displacement sensor to detect the displacement of the lead screw in real time and transmit the obtained data to the ECU. When the lead screw reaches the required position, the electric cylinder motor stops working, and the ECU controls the power supply system to supply power to the locking mechanism, so that the locking mechanism works to complete the locking and fixing of the axial displacement of the lead screw, thereby realizing system control.

Images