An electric control wheel track adjustable driving and steering suspension integrated drive-by-wire chassis shaft module

Abstract

The application provides an electric control wheel track adjustable drive and steering suspension integrated drive-by-wire chassis axle module arranged at a variable configuration drive axle module, wherein a wheel track adjusting module of the chassis axle module comprises a wheel track adjusting mechanism based on a folding type electric cylinder, the wheel track adjusting mechanism comprises an electric cylinder and a telescopic shaft, the electric cylinder is fixed at an upper frame of the chassis axle module, the telescopic shaft is fixed at a lower bottom plate of the chassis axle module, the length of the upper frame is changed through axial displacement of an electric cylinder screw rod, and the telescopic shaft of the lower bottom plate is telescoped by the upper frame; the axial size of the axle module is changed to adjust the wheel track of the chassis axle module; a wheel track adjusting control system of the wheel track adjusting mechanism comprises a displacement sensor installed at the electric cylinder, the displacement sensor detects the axial displacement length of the electric cylinder screw rod when the wheel track is adjusted, the length data is processed by an ECU, and the ECU uses a PWM to control the working condition of the motor in the electric cylinder to realize wheel track control; the application can accurately adjust the chassis wheel track and has good universality.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of vehicles, in particular to an electric control wheel track adjustable drive and steering suspension integrated by-wire chassis axle module. BACKGROUND

[0002] The independently drivable axle module has a high development prospect in the reconfigurable vehicle, and the independently drivable axle module has high flexibility and maneuverability by using the by-wire technology, thereby greatly improving the application prospect of the axle module. However, the configuration of the independently drivable axle module in the prior art is very single, the overall frame is fixed, different types of vehicles have different parameter requirements for the axle module, so that the same axle module can only be applied to the same type of vehicle, thereby reducing the application scene of the independently drivable axle module, and different types of axle modules are produced for different vehicles, thereby increasing the production cost. SUMMARY

[0003] The application provides an electric control wheel track adjustable drive and steering suspension integrated by-wire chassis axle module, which can accurately adjust the wheel track of the chassis and has good universality.

[0004] The application adopts the following technical scheme.

[0005] An electric control wheel track adjustable drive and steering suspension integrated by-wire chassis axle module is arranged at a variable-configuration drive axle module, a wheel track adjusting module of the chassis axle module comprises a wheel track adjusting mechanism based on a folding type electric cylinder, the wheel track adjusting mechanism comprises an electric cylinder and a telescopic shaft, the electric cylinder is fixed at an upper frame of the chassis axle module, the telescopic shaft is fixed at a lower bottom plate of the chassis axle module, the length of the upper frame is changed through the axial displacement of an electric cylinder lead screw connected with the electric cylinder, and the telescopic shaft of the lower bottom plate is telescoped under the action of the upper frame; so that the axial size of the axle module is changed to adjust the wheel track of the chassis axle module; a wheel track adjusting control system of the wheel track adjusting mechanism comprises a displacement sensor installed at the electric cylinder, when the wheel track is adjusted, the displacement sensor detects the axial displacement length of the electric cylinder lead screw, the length data is processed by an ECU, and the ECU controls the working condition of the motor in the electric cylinder by using a PWM control strategy, so as to control the wheel track adjusting mechanism.

[0006] The chassis axle module comprises a drive module, a steering module, a brake module, a suspension module, a control module and a wheel track adjusting module.

[0007] The drive module comprises A drive wheels, B drive wheels, A hub motors and B hub motors and a power battery.

[0008] The steering module comprises a steering motor, a steering tie rod, a steering horn, an electric cylinder and a locking mechanism.

[0009] The brake module comprises a disc brake, a brake disc, an oil pressure distributor and a brake pump.

[0010] The suspension module comprises an upper swing arm, a lower swing arm and a shock spring;

[0011] The control module of the wheel track adjustment control system comprises a motor controller and an ECU.

[0012] The wheel track adjustment module comprises an electric cylinder, a bearing, a telescopic shaft module and a locking mechanism, and the frame of the chassis shaft module is used as a mounting structure.

[0013] In the driving module, the A wheel hub motor and the B wheel hub motor are fixedly installed on the steering horn, and the output end of the A wheel hub motor is fixedly connected with the A driving wheel by using a bolt, and the output end of the B wheel hub motor is fixedly connected with the B driving wheel by using a bolt, and the A driving wheel and the B driving wheel are symmetrically installed on the two sides of the frame.

[0014] The power battery is fixedly installed on the bottom plate of the frame, and the motor controller supplies power to the A wheel hub motor and the B wheel hub motor.

[0015] In the steering module, the steering motor is fixedly installed on the frame bottom plate, and the output end of the steering motor is connected with the steering tie rod by using a spline sleeve, the steering tie rod ball head is connected with the side hole of the steering horn, and an electric cylinder is additionally arranged on the two 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 screw rod to realize the length change of the steering tie rod.

[0016] In the braking module, the disc brake is fixedly connected with the steering horn by using a bolt, the brake disc is fixedly connected with the input end of each wheel hub motor by using a bolt, the oil pressure distributor is fixedly connected with the frame bottom plate by using a bolt, the oil outlet of the oil pressure distributor is connected with the oil inlet of the disc brake by using a copper pipe, and the brake pump is fixedly connected with the frame bottom plate by using a bolt, and the output oil port of the brake pump is connected with the input oil port of the oil pressure distributor by using a copper pipe.

[0017] In the suspension module, the upper swing arm is fixedly connected with the upper side frame of the frame side by using a lifting lug, and the swing arm ball head is connected with the upper hole position of the steering horn, the lower swing arm is fixedly connected with the lower side frame of the frame side by using a lifting lug, and the lower swing arm ball head is connected with the lower hole position of the steering horn, the upper hole position of the shock spring is connected with the upper plate of the frame by using a lifting lug, and the lower hole position of the shock spring is connected with the lower swing arm.

[0018] In the wheel track adjustment module, the telescopic shaft module comprises a plurality of parallel telescopic shafts, the base of the telescopic shaft is embeddedly installed in the shaft module bottom plate, and a shaft hole is formed in the bottom plate of the driving axle module on the other side, so that the telescopic shaft can freely move in the floor of the chassis shaft module on the other side.

[0019] The electric cylinder is embedded in the frame profile of the axle module, the bearing is embedded in the frame on the other side of the chassis axle module, the outer diameter of the bearing is matched with the profile part, the electric cylinder screw rod 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 chassis axle module.

[0020] The bottom of the electric cylinder is fixedly connected with the profile of the upper frame of the axle 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 is matched with the shaft of the front end of the electric cylinder screw rod.

[0021] When the motor in the electric cylinder works, the screw rod is driven to rotate and axially displace, so that the upper frames on both sides axially displace under the action of the screw rod, the frames of the drive axle modules on both sides are displaced, and the telescopic shaft in the bottom plate of the drive axle module moves in the axle hole of the bottom plate under the action of the frame of the drive axle module.

[0022] The locking mechanism is a relay-controlled clamping groove type locking mechanism, and the locking mechanism is installed in the steering mechanism and the track adjustment mechanism.

[0023] The working mode of the locking mechanism is that when the electromagnet magnetically attracts the locking piece to make the tail end of the locking piece separate from the locking groove of the locking piece, the locking mechanism is unlocked, and when the electromagnet is powered off, the reset spring drives the locking piece to insert into the locking groove of the locking piece, so that the locking mechanism is in the locked state.

[0024] The reset spring and the electromagnet in the locking mechanism are installed at the lower end inside the locking mechanism housing, the locking piece is fixedly connected with the upper end of the reset spring, and the locking groove is at the outer edge of the screw rod. By controlling the on-off of the current in the electromagnet through the relay, the electromagnet is connected to the locking piece, the reset spring is compressed, the tip of the locking piece is tightly matched with the locking groove to realize locking, and the electromagnet is disconnected, the locking piece loses the attraction force and returns to the initial position under the action of the reset spring to end the locking effect.

[0025] The module function reconstruction method of the electric control track adjustable drive suspension integrated by wire control chassis axle module, the track adjustment mechanism of the drive axle module is adapted to different types of vehicles through the module function reconstruction method, specifically: each function module is installed by using a standard quick connector, and the function module is replaced according to different vehicle requirements; the bottom plate of the chassis axle module is spliced by using a profile, and a continuous mounting hole is arranged in each profile, which is used for adding a new function module or realizing function rearrangement at any position of the axle module bottom plate, so as to improve the universality of the chassis axle module.

[0026] In the method, the axial direction 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 bottom plate, and the wheel track of the chassis axle module is locked and fixed by the locking mechanism; the frame of the chassis axle module is built by profiled materials, the radial size of the chassis axle module is expanded by splicing profiled materials on the outer edge of the frame, the variable configuration of the chassis axle module is formed, and the universality of the chassis axle module is improved.

[0027] In the method, during the wheel track adjustment process, the motor in the electric cylinder is adjusted by the control strategy of the ECU through PWM, 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 motor of the electric cylinder stops working, the ECU controls the power supply system to supply power to the locking mechanism, the locking mechanism works to complete the locking and fixing of the axial displacement of the lead screw, and the precise control of the whole system is realized.

[0028] The drive axle module wheel track adjustable mechanism in the scheme can be applied to different types of vehicles, the performance requirements of different vehicles for the modules in the drive axle module are different, a module function reconstruction method is provided, the function modules used are all installed by using standard quick connection interfaces, and the function modules can be replaced according to different vehicle requirements. The bottom plate of the axle module is spliced by profiled materials, continuous mounting hole positions are used in each profiled material, new function modules can be added in any position of the axle module bottom plate or the function layout can be realized, and the universality of the axle module is greatly improved.

[0029] In the application, the drive axle module with variable configuration can grow the axial direction length of the axle module through the electric cylinder in the upper frame of the axle module and the telescopic shaft in the lower bottom plate, and the wheel track of the axle module is locked and fixed by the locking mechanism. The axle module frame is built by profiled materials, the radial size of the axle module can be expanded by splicing profiled materials on the outer edge of the frame, the variable configuration of the axle module is completed, and the universality of the axle module is greatly improved.

[0030] In the application, the wheel track adjustment control system integrated with a displacement sensor is used. During the wheel track adjustment process, the motor in the electric cylinder is adjusted by the control strategy of the ECU through PWM, 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 motor of the electric cylinder stops working, the ECU controls the power supply system to supply power to the locking mechanism, the locking mechanism works to complete the locking and fixing of the axial displacement of the lead screw, and the precise control of the whole system is realized.

[0031] The axle module can be reconstructed and applied to different types of vehicles, the application scenarios of the independent driving axle module are expanded, different types of axle modules do not need to be produced for different vehicles, and the production cost is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0032] The application will be described in further detail below with reference to the drawings and specific embodiments:

[0033] Figure 1 is a schematic diagram of the application; Figure 1

[0034] Figure 2 is a schematic diagram of the application; Figure 2

[0035] Figure 3 is a schematic diagram of the application; Figure 3

[0036] Figure 4 is a schematic diagram of the application; Figure 4

[0037] Figure 5 is a schematic diagram of the application; Figure 5

[0038] Figure 6 is a schematic diagram of the application; Figure 6

[0039] Figure 7 is a schematic diagram of the application; Figure 7

[0040] Figure 8 is a schematic diagram of the application; Figure 8

[0041] Figure 1 is a schematic diagram of the application;

[0042] 101 - electric cylinder; 102 - electric cylinder screw; 103 - bearing; 104 - profile; 105 - telescopic shaft. DETAILED DESCRIPTION

[0043] ​​​​​​​​As shown in the figure, an electric control wheel track adjustable drive and steering suspension integrated by-wire chassis module is arranged at a variable configuration drive axle module, a wheel track adjusting module of the chassis module includes a wheel track adjusting mechanism based on a folding electric cylinder, the wheel track adjusting mechanism includes an electric cylinder 101 and a telescopic shaft 105, the electric cylinder is fixed at an upper frame 13 of the chassis module, the telescopic shaft is fixed at a lower bottom plate 14 of the chassis module, the length of the upper frame is changed through the axial displacement of an electric cylinder lead screw 102 connected with the electric cylinder, and the telescopic shaft of the lower bottom plate is telescoped under the drive of the upper frame; so that the axial dimension of the axle module is changed to adjust the wheel track of the chassis module; a wheel track adjusting control system of the wheel track adjusting mechanism includes a displacement sensor installed at the electric cylinder, when the wheel track is adjusted, the displacement sensor detects the axial displacement length of the electric cylinder lead screw, the length data is processed by an ECU, and the ECU controls the working condition of the motor in the electric cylinder by using a PWM control strategy, so as to realize the control of the wheel track adjusting mechanism.

[0044] The chassis module includes a drive module, a steering module, a brake module, a suspension module, a control module and a wheel track adjusting module.

[0045] 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.

[0046] The steering module includes a steering motor 9, a steering tie rod, a steering horn 10, an electric cylinder 101 and a locking mechanism.

[0047] The brake module includes a disc brake, a brake disc, an oil pressure distributor and a brake pump 11.

[0048] The suspension module includes an upper swing arm 6, a lower swing arm 7 and a shock spring 8.

[0049] The control module of the wheel track adjusting control system includes a motor controller and an ECU.

[0050] The wheel track adjusting module includes an electric cylinder, a bearing 103, a telescopic shaft module and a locking mechanism, and the frame of the chassis module is used as a mounting structure.

[0051] In the drive module, the A hub motor and the B hub motor are fixedly installed on the steering horn, the output end of the A hub motor is fixedly connected with the A drive wheel by using a bolt, the output end of the B hub motor is fixedly connected with the B drive wheel by using a bolt, and the A drive wheel and the B drive wheel are symmetrically installed on both sides of the frame.

[0052] The power battery is fixedly installed on the bottom plate of the frame, and the motor controller supplies power to the A hub motor and the B hub motor.

[0053] The steering motor is fixedly installed on the frame bottom plate, and the output end of the steering motor is connected with the steering tie rod by using a spline sleeve; the steering tie rod ball head is connected with the side hole of the steering horn; and the electric cylinder is arranged 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 screw rod to realize the length change of the steering tie rod.

[0054] In the brake module, the disc brake is fixedly connected with the steering horn by using bolts; the brake disc is fixedly connected with the input end of each wheel hub motor by using bolts; the oil pressure distributor is fixedly connected with the frame bottom plate by using bolts, and the output oil port of the oil pressure distributor is connected with the oil liquid input port of the disc brake by using a copper pipe; and the brake pump is fixedly connected with the frame bottom plate by using bolts, and the output oil port of the brake pump is connected with the input oil port of the oil pressure distributor by using a copper pipe.

[0055] In the suspension module, the upper swing arm is fixedly connected with the upper side frame of the frame side by using a lifting lug, and the swing arm ball head is connected with the upper hole position of the steering horn; the lower swing arm is fixedly connected with the lower side frame of the frame side by using a lifting lug, and the lower swing arm ball head is connected with the lower hole position of the steering horn; the upper hole position of the shock absorbing spring is connected with the upper plate of the frame by using a lifting lug; and the lower hole position of the shock absorbing spring is connected with the lower swing arm.

[0056] In the wheel track adjustment module, the telescopic shaft module includes a plurality of parallel telescopic shafts, the base of the telescopic shaft is embeddedly installed in the shaft module bottom plate, and the shaft hole is opened in the bottom plate of the drive axle module on the other side, so that the telescopic shaft can freely move in the bottom plate of the axle module on the other side;

[0057] The electric cylinder is embedded in the upper frame profile of the axle module, the bearing is embedded in the upper frame on the other side of the axle module, the outer diameter of the bearing is matched with the profile part, the electric cylinder screw rod 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 axle module;

[0058] The bottom of the electric cylinder is fixedly connected with the profile of the upper frame of the axle module, the outer diameter of the bearing is fixedly installed in the upper frame on the other side, the inner diameter of the bearing is matched with the shaft of the front end of the electric cylinder screw rod, and the wheel track adjustment mechanism is installed in the front and rear upper frames of the drive axle module;

[0059] When the motor in the electric cylinder works, the screw rod is driven to rotate and axially displace, so that the upper frames on both sides axially displace under the action of the screw rod, the frames of the drive axle modules on both sides are displaced, and the telescopic shafts in the bottom plates of the drive axle modules move in the bottom plate shaft holes under the action of the frames of the drive axle modules.

[0060] The locking mechanism is a relay-controlled clamping groove type locking mechanism; locking mechanisms are installed in the steering mechanism and the track adjustment mechanism, and are used to lock after the other mechanisms reach the working condition to achieve safe and reliable work;

[0061] The working mode of the locking mechanism is that when the electromagnet attracts the locking piece to make its end separate from the locking groove of the locking piece, the locking mechanism is unlocked; when the electromagnet is powered off, the reset spring drives the locking piece to insert into the locking groove of the locking piece, so that the locking mechanism is in the locked state.

[0062] The reset spring and the electromagnet in the locking mechanism are installed at the lower end inside the locking mechanism housing, the locking piece is fixedly connected with the upper end of the reset spring, and the locking groove is at the outer edge of the lead screw. The relay controls the on-off of the current in the electromagnet, and the electromagnet is connected to the power supply to attract the locking piece to compress the reset spring, so that the tip of the locking piece is tightly matched with the locking groove to achieve locking, and the electromagnet is powered off, the locking piece loses the attraction force and returns to the initial position under the action of the reset spring to end the locking effect.

[0063] The module function reconstruction method of the electric control track adjustable drive and suspension integrated by wire control chassis module, the track adjustment mechanism of the drive axle module is adapted to different types of vehicles through the module function reconstruction method, specifically: each function module is installed by using a standard quick connector, and the function module is replaced according to the requirements of different vehicle models; the bottom plate of the chassis axle module is spliced by using a profile 104, and a continuous mounting hole is arranged in each profile, which is used to add a new function module at any position of the chassis axle module bottom plate or to realize function re-layout, so as to improve the universality of the chassis axle module.

[0064] In the method, the axial direction 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 bottom plate, and the track of the chassis axle module is fixed after being locked by the locking mechanism; the frame of the chassis axle module is built by using a profile, the size of the chassis axle module in the radial direction is expanded by splicing the profile at the outer edge of the frame, and the variable configuration of the chassis axle module is formed, so as to improve the universality of the chassis axle module.

[0065] In the method, the ECU adjusts the motor in the electric cylinder through the control strategy of PWM during the track adjustment process, the displacement sensor detects the displacement of the lead screw in real time and transmits the obtained data to the ECU, the motor in the electric cylinder stops working when the lead screw reaches the required position, the ECU controls the power supply system to supply power to the locking mechanism, the locking mechanism works to complete the locking and fixing of the axial displacement of the lead screw, and the system control is realized.

[0066] Embodiment:

[0067] This example is based on the above scheme and includes the following contents

[0068] (1) Wheel track adjustment mechanism based on a folding electric cylinder. The wheel track adjustment mechanism is composed of an electric cylinder, a bearing, and an extension shaft. The electric cylinder is embedded in the upper frame profile of the axle module, the bearing outer diameter cooperates with the profile, and the bearing inner diameter cooperates with the electric cylinder screw. The extension shaft is embedded in the lower bottom plate of the axle module. The length of the upper frame is changed through the axial displacement of the electric cylinder screw, and the extension shaft of the lower bottom plate is elongated by the upper frame.

[0069] (2) Relay-controlled clamping groove locking mechanism. The locking mechanism is composed of a locking mechanism housing, a locking piece, a return spring, an electromagnet, and a locking groove. The locking effect is achieved by the magnetic force of the electromagnet controlled by the relay attracting the locking piece to compress the return spring, so that the sharp end of the locking piece tightly cooperates with the locking groove. When the relay is disconnected, the locking piece returns to the initial position under the action of the return spring, ending the locking effect.

[0070] In this example, the locking groove can be provided at the locking area of the screw or the profile.

[0071] (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 connection interface. The performance of the axle module can be changed by replacing different modules to adapt to different types of vehicles with different requirements 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.

[0072] (4) Variable configuration drive axle module. An electric cylinder is added to the upper frame of the axle module, and an extension shaft is added to the lower bottom plate of the axle module. The motor in the upper frame electric cylinder works to drive the screw to rotate and produce axial displacement. The lower bottom plate is elongated in the axial direction under the drive of the upper frame, so that the axial size of the axle module changes and the wheel track of the axle module increases.

[0073] (5) Wheel track adjustment control system integrated with displacement sensor. The axial displacement length of the screw is measured by the displacement sensor installed in the electric cylinder. After the data is processed by the ECU, the ECU uses a PWM control strategy to control the working state of the motor in the electric cylinder to achieve control over the wheel track adjustment mechanism.

[0074] The axle module of this example, i.e., the chassis axle module, is composed of a drive module, a steering module, a brake module, a suspension module, a control module, and a wheel track adjustment module.

[0075] The driving module in the example is composed of an A driving wheel, a B driving wheel, an A wheel hub motor, a B wheel hub motor, and a power battery; the steering module is composed of a steering motor, a steering tie rod, a steering horn, an electric cylinder, and a locking mechanism; the braking module is composed of a disc brake, a brake disc, an oil pressure distributor, and a brake pump; the suspension module is composed of an upper swing arm, a lower swing arm, and a shock spring; the motor controller and the ECU serve as the control module; the wheel track adjustment module is composed of an electric cylinder, a bearing, an extension shaft, and a locking mechanism; and the frame serves as a mounting part.

[0076] The A driving motor and the B driving motor are fixedly installed on the steering horn, and the output end of the A driving motor is fixedly connected with the A driving wheel by using a bolt, and the output end of the B driving motor is fixedly connected with the B driving wheel by using a bolt; the A driving wheel and the B driving wheel are symmetrically installed on the two sides of the frame.

[0077] The power battery is fixedly installed on the frame bottom plate, the motor controller supplies power to the A driving motor and the B driving motor; the steering motor is fixedly installed on the frame bottom plate, and the output end of the steering motor is connected with the steering tie rod by using a spline sleeve; the steering tie rod ball head is connected with the side hole of the steering horn, and the two sides of the steering tie rod of the steering mechanism are provided with an electric cylinder, and the length of the steering tie rod can be increased by the axial displacement of the screw rod of the electric cylinder to realize the length change of the steering tie rod.

[0078] The disc brake is fixedly connected with the steering horn by using a bolt; the brake disc is fixedly connected with the input end of the wheel hub motor by using a bolt; the oil pressure distributor is fixedly connected with the frame bottom plate by using a bolt, and the output oil port of the oil pressure distributor is connected with the oil liquid input port of the disc brake by using a copper pipe; the brake pump is fixedly connected with the frame bottom plate by using a bolt, and the output oil port of the brake pump is connected with the input oil port of the oil pressure distributor by using a copper pipe; the upper swing arm is fixedly connected with the side upper bracket of the frame by using a lifting lug, and the swing arm ball head is connected with the upper hole position of the steering horn; the lower swing arm is fixedly connected with the side lower bracket of the frame by using a lifting lug, and the lower swing arm ball head is connected with the lower hole position of the steering horn.

[0079] The upper hole position of the shock spring is connected with the upper plate of the frame by using a lifting lug; the lower hole position of the shock spring is connected with the lower swing arm; the electric cylinder is embedded in the upper frame profile of the shaft module, the bearing is embedded in the other side of the upper frame of the shaft module, the screw rod of the electric cylinder is matched with the inner diameter of the bearing, the locking mechanism is installed on the electric cylinder, and the extension shaft is embedded in the bottom plate of the shaft module.

[0080] The example is based on the wheel track adjustment mechanism of the folding electric cylinder, wherein 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, the inner diameter of the bearing is matched with the shaft of the front end of the electric cylinder screw, the mechanism is installed in the front and rear upper frames of the drive axle module, the telescopic shaft module is composed of a plurality of telescopic shafts arranged side by side, the base of the telescopic shaft is embeddedly installed in the bottom plate of the shaft module, a shaft hole is opened in the bottom plate of the drive axle module on the other side, and the telescopic shaft can freely move in the bottom plate shaft hole of the shaft module on the other side. When the motor in the electric cylinder works, the screw rotates to generate axial displacement, the upper frames on both sides are axially displaced under the action of the screw, the drive axle module frames on both sides are displaced, and the telescopic shaft in the bottom plate of the drive axle module moves in the bottom plate shaft hole under the action of the drive axle module frame.

[0081] The relay controlled clamping groove type locking mechanism in the example. The locking mechanism is installed in the steering mechanism and the wheel track adjustment mechanism, and the purpose of the locking mechanism is to lock the corresponding mechanism to achieve safe and reliable work after other mechanisms reach the working condition. The reset spring and the electromagnet in the locking mechanism are installed at the lower end inside the locking mechanism shell, the locking piece is fixedly connected with the upper end of the reset spring, and the locking groove is at the outer edge of the screw. By controlling the on-off of the current in the electromagnet through the relay, the electromagnet is connected to the power supply, the locking piece is attracted to compress the reset spring, the tip of the locking piece is tightly matched with the locking groove to achieve locking, and the electromagnet is disconnected from the power supply. The locking piece loses the attraction force and returns to the initial position under the action of the reset spring to end the locking effect.

[0082] The function reconstruction method of the drive axle module in the example is as follows. The wheel track adjustable mechanism of the drive axle module in the example can be applied to different types of vehicles. Different vehicles have different performance requirements for the modules in the drive axle module. The application provides a module function reconstruction method. The functional modules used are installed with standard quick connectors. The functional modules can be replaced according to different vehicle requirements. The bottom plate of the shaft module is spliced with profiles. There are continuous mounting holes in each profile. New functional modules can be added at any position of the shaft module bottom plate or the function can be rearranged, greatly improving the universality of the shaft module.

[0083] The variable configuration drive axle module in the 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 bottom plate, and the wheel track of the shaft module can be fixed by the locking mechanism. The shaft module frame is built with profiles. The profiles can be spliced on the outer edge of the frame to expand the radial size of the shaft module, complete the variable configuration of the shaft module, and improve the universality of the shaft module.

[0084] The integrated displacement sensor wheel track adjustment control system in this example. In the process of wheel track adjustment, the ECU adjusts the motor work in the electric cylinder through the control strategy of PWM, the displacement sensor detects the displacement of the screw in real time and transmits the obtained data to the ECU, when the screw reaches the required, the electric cylinder motor stops working, the ECU controls the power supply system to give the locking mechanism, the locking mechanism works to complete the locking and fixing of the axial displacement of the screw shaft, and the control of the whole system is completed.

Claims

1. A drive-by-wire chassis axle module with electronically adjustable wheel track, characterized in that: The chassis axle module is located at the variable configuration drive axle module. The wheel track adjustment module of the chassis axle module includes a wheel track adjustment mechanism based on a folding electric cylinder. The wheel track adjustment mechanism includes an electric cylinder and a telescopic shaft. The electric cylinder is fixed to the upper frame of the chassis axle module, and the telescopic shaft is fixed to the lower base plate of the chassis axle module. The axial displacement of the electric cylinder screw connected to the electric cylinder drives the upper frame to change its length, and the upper frame drives the telescopic shaft of the lower base plate to extend and retract, thereby changing the axial dimension of the axle module to adjust the wheel track of the chassis axle module. The wheel track adjustment control system of the wheel track adjustment mechanism includes a displacement sensor installed at the electric cylinder. When adjusting the wheel track, the displacement sensor detects the axial displacement length of the electric cylinder screw. After the length data is processed by the ECU, the ECU uses a PWM control strategy to control the motor operation in the electric cylinder to achieve control of the wheel track adjustment mechanism. The chassis axle module includes a drive module, a steering module, a braking module, a suspension module, a control module, and a track adjustment module; The suspension module includes an upper control arm, a lower control arm, and shock absorber springs; In the suspension module, the upper control arm is fixedly connected to the upper side frame of the frame using a lug, and the ball joint of the control arm is connected to the upper hole of the steering knuckle; the lower control arm is fixedly connected to the lower side frame of the frame using a lug, and the ball joint of the lower control arm is connected to the lower hole of the steering knuckle.

2. The electrically controlled adjustable wheel track integrated drive, braking, steering, and suspension drive-by-wire chassis axle module according to claim 1, characterized in that: The drive module includes drive wheel A, drive wheel B, hub motor A, hub motor B, and power battery; The steering module includes a steering motor, a steering tie rod, a steering knuckle, an electric cylinder, and a locking mechanism; The braking module includes a disc brake, brake disc, hydraulic distributor, and brake pump; the control module of the wheel track adjustment control system includes a motor controller and ECU. The wheel track adjustment module includes an electric cylinder, bearings, telescopic shaft module, and locking mechanism, with the chassis shaft module frame as the mounting structure.

3. The electrically controlled adjustable wheel track integrated drive, braking, steering, and suspension drive-by-wire chassis axle module according to claim 2, characterized in that: In the drive module, both hub motor A and hub motor B are fixedly mounted on the steering knuckle, and the output end of hub motor A is fixedly connected to drive wheel A with bolts; the output end of hub motor B is fixedly connected to drive wheel B with bolts; drive wheel A and drive wheel B are mounted symmetrically on both sides of the frame. The power battery is fixedly installed on the base plate of the frame, and the motor controller supplies power to the A hub motor and the B hub motor.

4. The electrically controlled adjustable wheel track integrated drive, braking, steering, and suspension drive-by-wire chassis axle module according to claim 2, characterized in that: In the steering module, the steering motor is fixedly mounted on the frame base plate, and the output end of the steering motor is connected to the steering tie rod using a spline sleeve; the ball joint of the steering tie rod is connected to the side hole of the steering horn; electric cylinders are added to both sides of the steering tie rod of the steering mechanism, and the length of the steering tie rod is adjusted by the axial displacement of the electric cylinder screw to realize the change of the steering tie rod length.

5. The electrically controlled adjustable wheel track integrated drive, braking, steering, and suspension drive-by-wire chassis axle module according to claim 2, characterized in that: In the braking module, the disc brake is fixedly connected to the steering knuckle with bolts; the brake disc is fixedly connected to the input end of each wheel hub motor with bolts; the hydraulic distributor is fixedly connected to the frame base plate with bolts, and the output port of the hydraulic distributor is connected to the hydraulic input port of the disc brake with a copper pipe; the brake pump is fixedly connected to the frame base plate with bolts, and the output port of the brake pump is connected to the input port of the hydraulic distributor with a copper pipe.

6. The electrically controlled adjustable wheel track integrated drive, braking, steering, and suspension drive-by-wire chassis axle module according to claim 2, characterized in that: The upper hole of the shock-absorbing spring is connected to the upper plate of the frame using a lifting lug; the lower hole of the shock-absorbing spring is connected to the lower swing arm.

7. The electrically controlled adjustable wheel track integrated drive, braking, steering, and suspension drive-by-wire chassis axle module according to claim 2, characterized in that: In the wheel track adjustment module, the telescopic shaft module includes multiple telescopic shafts arranged in parallel. The base of the telescopic shaft is embedded in the bottom plate of the shaft module. 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 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 is matched with the shaft at the front end of the electric cylinder screw. A wheel track adjustment mechanism is installed in both 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. This causes the upper frames on both sides to move axially under the action of the lead screw, which in turn causes the drive axle module frames on both sides to move. The telescopic shaft in the base plate of the drive axle module moves in the shaft hole of the base plate under the action of the drive axle module frame. The locking mechanism is a relay-controlled slot-type locking mechanism; locking mechanisms are installed in both the steering mechanism and the wheel track adjustment mechanism. The locking mechanism is used to lock after other mechanisms have reached their working conditions, so as to achieve their safe and reliable operation. The return spring and electromagnet in the locking mechanism are both installed at the lower end of the locking mechanism housing. The locking element 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 current in the electromagnet is switched on and off by a relay. When the electromagnet is energized, it attracts the locking element and compresses the return spring, so that the tip of the locking element fits tightly with the locking groove to achieve locking. When the electromagnet is de-energized, the locking element loses its attraction force and returns to its initial position under the action of the return spring, ending the locking effect.

8. A method for reconfiguring the module function of an electronically controlled adjustable wheelbase integrated drive, braking, steering, and suspension steerable chassis axle module, using the electronically controlled adjustable wheelbase integrated drive, braking, steering, and suspension steerable chassis axle module as described in claim 1, characterized in that: The wheel track adjustment mechanism of the drive axle module adapts to different types of vehicles through module function reconfiguration. Specifically, each functional module is installed using a standard quick-connect interface, and the functional modules can be replaced according to the needs of different vehicle models. The base plate of the chassis axle module is made of spliced ​​profiles, and each profile has continuous mounting holes, which are used to add new functional modules or realize functional reconfiguration at any position on the base plate of the axle module.

9. The module function reconfiguration method for an electronically controlled, adjustable wheel track integrated drive, braking, steering, and suspension 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 and the telescopic shaft in the lower base plate, and the wheel track of the chassis axle module is fixed by locking the locking mechanism. The frame of the chassis axle module is constructed using profiles, and the radial dimension of the chassis axle module is expanded by splicing profiles on the outer edge of the frame to form a variable configuration of the chassis axle module, thereby improving the versatility of the chassis axle module.

10. The module function reconfiguration method for an electronically controlled adjustable wheel track integrated drive, braking, steering, and suspension chassis axle module according to claim 8, characterized in that: In the process of wheel track adjustment, the ECU adjusts the operation of the motor in the electric cylinder through a PWM control strategy. The displacement sensor detects the displacement of the lead screw in real time and transmits the 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 lock and fix the axial displacement of the lead screw, thereby realizing system control.

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