Suspension steering integrated system and vehicle

Abstract

The invention discloses a suspension steering integrated system and a vehicle. A two-stage steering mechanism comprises a stand column frame, a main steering knuckle, a gear and rack rotator, an auxiliary steering knuckle and a suspension swing arm, and the stand column frame is connected with wheels through the main steering knuckle; the main steering driving motor is connected with one end of the main steering tie rod through the gear rack rotator, and the other end of the main steering tie rod is connected with the main steering knuckle. The auxiliary steering knuckle is connected with the frame; the auxiliary steering knuckle is connected with the stand column frame through a suspension swing arm. The gear rack rotator is fixed on the auxiliary steering knuckle; one end of the guide rod is connected with the upright post frame, and the other end is connected with the auxiliary knuckle through a cylindrical pair; one end of the spring damper is connected with the auxiliary knuckle through a spherical pair, and the other end of the spring damper is connected with the stand column frame through a spherical pair. The auxiliary steering motor is fixed on the frame and is connected with the auxiliary steering pull rod through the auxiliary steering rocker arm; the auxiliary steering pull rod is connected with the auxiliary steering knuckle through a spherical pair. The maneuverability and flexibility of the vehicle can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of automotive suspension steering, and more particularly to a suspension steering integrated system and a vehicle. Background Art

[0002] Due to the limitation of mechanical mechanisms, the steering angle of the steering system of traditional vehicles is generally less than 40°. There are certain limitations when facing scenarios that require large-angle steering or lateral driving, especially when vehicles need to have higher flexibility and mobility in urban parking and narrow road conditions.

[0003] Although the corner module can achieve large-angle steering and has a compact design and high integration, such structures generally bring a relatively large unsprung mass. The excessive unsprung mass results in large inertia, affecting the handling stability and ride comfort of the vehicle.

[0004] Therefore, providing a flexible and stable suspension steering integrated system and vehicle is an urgent problem for those skilled in the art. Summary of the Invention

[0005] In view of this, the present invention provides a suspension steering integrated system and a vehicle, which improve the mobility and flexibility of the vehicle, as well as the handling stability and ride comfort.

[0006] To achieve the above object, the present invention adopts the following technical solutions:

[0007] A suspension steering integrated system includes a column frame, a main steering knuckle, a main steering drive motor, a rack and pinion rotator, a main steering tie rod, a sub-steering knuckle, a suspension swing arm, a guide rod, a spring damper, a sub-steering motor, a sub-steering tie rod, and a sub-steering rocker arm. The column frame is connected to a wheel through the main steering knuckle; the main steering drive motor is connected to one end of the main steering tie rod through the rack and pinion rotator, and the other end of the main steering tie rod is connected to the main steering knuckle; the sub-steering knuckle is connected to the vehicle frame through a spherical pair; the sub-steering knuckle is connected to the column frame through the suspension swing arm; the rack and pinion rotator is fixed on the sub-steering knuckle; one end of the guide rod is connected to the column frame through a ball joint, and the other end of the guide rod is connected to the sub-steering knuckle through a cylindrical pair; one end of the spring damper is connected to the sub-steering knuckle through a spherical pair, and the other end of the spring damper is connected to the column frame through a spherical pair; the sub-steering motor is fixed on the vehicle frame, and the sub-steering motor is connected to the sub-steering tie rod through the sub-steering rocker arm; the sub-steering tie rod is connected to the sub-steering knuckle through a spherical pair.

[0008] Further, both ends of the main steering knuckle are respectively connected to the C2 joint and the C3 joint of the column frame through a revolute pair to rotate around the axis connecting the C2 joint and the C3 joint.

[0009] Further, the main steering knuckle is connected to the wheel through a wheel side member.

[0010] Further, the rack and pinion actuator includes a steering gear housing, a worm and worm gear reducer, a steering gear and a steering rack. The steering gear housing is fixed on the auxiliary steering knuckle; the worm and worm gear reducer is fixed on the steering gear housing; the steering gear is located inside the steering gear housing, and the steering gear and the worm gear of the worm and worm gear reducer are installed on the same rotating shaft; the steering rack horizontally penetrates the steering gear housing and is meshed and connected with the steering gear; the main steering drive motor is connected to the worm of the worm and worm gear reducer, and the worm is meshed and connected with the worm gear; one end of the main steering tie rod is connected to the main steering knuckle through a ball joint, and the other end of the main steering tie rod is connected to one end of the steering rack through a ball joint.

[0011] Further, the suspension swing arm includes a first upper suspension arm, a second upper suspension arm, a first lower suspension arm, a second lower suspension arm and a suspension toe link. One end of the first upper suspension arm is connected to the S7 joint of the column bracket through a ball joint, and the other end of the first upper suspension arm is connected to the S4 joint of the auxiliary steering knuckle through a spherical pair; one end of the second upper suspension arm is connected to the S8 joint of the column bracket through a ball joint, and the other end of the second upper suspension arm is connected to the S3 joint of the auxiliary steering knuckle through a spherical pair; one end of the first lower suspension arm is connected to the S10 joint of the column bracket through a ball joint, and the other end of the first lower suspension arm is connected to the vehicle frame through a ball joint; one end of the second lower suspension arm is connected to the S12 joint of the column bracket through a ball joint, and the other end of the second lower suspension arm is connected to the vehicle frame through a ball joint; one end of the suspension toe link is connected to the S9 joint of the column bracket through a ball joint, and the other end of the suspension toe link is connected to the S6 joint of the auxiliary steering knuckle through a spherical pair.

[0012] Further, the S1 joint of the auxiliary steering knuckle is connected to the vehicle frame through a spherical pair; the C1 joint of the auxiliary steering knuckle is connected to the upper end of the guide rod through a cylindrical pair; the connecting axis of the S1 joint and the C1 joint is the rotation axis of the auxiliary steering knuckle; the lower end of the guide rod is connected to the S11 joint of the column bracket through a ball joint, and the guide rod is distributed along the rotation axis direction of the auxiliary steering knuckle; the spring damper is connected to the S2 joint of the auxiliary steering knuckle through a spherical pair, and the bottom end of the spring damper is connected to the S13 joint of the column bracket through a spherical pair; the auxiliary steering tie rod is connected to the S5 joint of the auxiliary steering knuckle through a spherical pair.

[0013] Further, the first lower suspension arm and the second lower suspension arm are cross-distributed.

[0014] A vehicle comprises the suspension and steering integrated system as described above.

[0015] It can be seen that the present invention provides a suspension steering integrated system and a vehicle. Compared with the prior art, the present invention has the following beneficial effects:

[0016] 1) The linkage steering and the rack and pinion steering are driven in coordination, and the two work together to achieve 90° steering of the wheels, which significantly improves the maneuverability and flexibility of the vehicle, and is particularly suitable for operation in narrow spaces or complex working conditions;

[0017] 2) When the steering angle reaches 90°, the first suspension lower arm and the second suspension lower arm are connected to the frame by a ball joint + cross structure design, and the camber angle change of the wheel is limited by spatial geometric constraints and the linkage rotation of the two steering knuckles and their corresponding connecting parts, so that the wheel inclination angle is 0, avoiding the problem of unstable driving direction of the vehicle or aggravated tire wear caused by the change of inclination angle;

[0018] 3) The main steering drive motor pushes the main steering tie rod through the gear rack rotator to rotate the wheel around the connecting axis of the C2 joint and the C3 joint. At the same time, the auxiliary steering motor drives the auxiliary steering knuckle to rotate by driving the auxiliary steering rocker arm. The two steering knuckles and their corresponding connecting parts rotate in a coordinated manner to offset the vertical displacement generated during the large-angle steering process, so that the wheel center Z coordinate changes to 0, ensuring that the wheel will not be displaced in the vertical direction when turning to the target angle, avoiding the lifting effect of the vehicle;

[0019] 4) The steering power related structures and auxiliary steering knuckle are all sprung masses, which significantly reduces the unsprung mass;

[0020] 5) The lower arm of the suspension is directly installed on the frame, and the transmission of tire force to the body is more direct, ensuring the stability and reliability of the steering system. In addition, in the large-angle steering mode, the lower arm of the suspension does not participate in the secondary steering action, effectively preventing movement interference between mechanical components and also facilitating the optimization of the vehicle's spatial layout.

[0021] 6) In the crank-rocker mechanism, when the crank and the connecting rod are collinear at 0° or 180°, the mechanism is in a dead point position to achieve self-locking. In the small-angle steering mode, the secondary steering rocker (crank) and the secondary steering tie rod (connecting rod) are in a collinear position to achieve self-locking of the mechanism to cope with the large braking force of the vehicle. When the primary and secondary steering work together to reach a 90° wheel angle, the secondary steering rocker (crank) and the secondary steering tie rod (connecting rod) are also in a collinear state to achieve self-locking to cope with some external interference during lateral driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on the provided drawings.

[0023] Figure 1 The attached drawing is a schematic diagram of the overall structure of a suspension steering integrated system provided by the present invention;

[0024] Figure 2 The attached drawing is a schematic diagram of the structure of a suspension steering integrated system provided by the present invention after removing the frame part;

[0025] Figure 3 The attached drawing is a front view of a suspension steering integrated system provided by the present invention;

[0026] Figure 4 The attached drawing is a schematic diagram of the structure of the column frame provided by the present invention;

[0027] Figure 5 The attached drawing is a schematic diagram of the connection relationship between the column frame, the suspension swing arm, the guide rod and the spring shock absorber provided by the present invention;

[0028] Figure 6 The attached drawing is a schematic diagram of the structure of the sub-steering knuckle provided by the present invention;

[0029] Figure 7 The attached drawing is a schematic diagram of the structure of the rack and pinion rotator provided by the present invention;

[0030] Figure 8 The attached drawing is a cross-sectional view of the rack and pinion rotator provided by the present invention;

[0031] Figure 9 The attached drawing is a schematic diagram of the structure of a small-angle steering mode of a suspension steering integrated system provided by the present invention;

[0032] Figure 10 The attached drawing is a schematic diagram of the structure of a large-angle steering mode of a suspension steering integrated system provided by the present invention. Detailed implementation manners

[0033] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of them. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0034] Such as Figure 1-10As shown, the embodiment of the present invention discloses a suspension steering integrated system, including a column frame 1, a main steering knuckle 2, a main steering drive motor 3, a gear rack rotator 4, a main steering tie rod 5, a secondary steering knuckle 6, a suspension swing arm 7, a guide rod 8, a spring damper 9, a secondary steering motor 10, a secondary steering tie rod 11 and a secondary steering rocker arm 12, the column frame 1 is connected to the wheel 13 through the main steering knuckle 2; the main steering drive motor 3 is connected to one end of the main steering tie rod 5 through the gear rack rotator 4, and the other end of the main steering tie rod 5 is connected to the main steering knuckle 2; the secondary steering knuckle 6 is connected to the frame 14 through a spherical pair; the secondary steering knuckle 6 is connected to the column frame 1 through the suspension swing arm 7 ; The gear rack rotator 4 is fixed on the auxiliary steering knuckle 6; one end of the guide rod 8 is connected to the column frame 1 through a ball joint, and the other end of the guide rod 8 is connected to the auxiliary steering knuckle 6 through a cylindrical pair; one end of the spring shock absorber 9 is connected to the auxiliary steering knuckle 6 through a spherical pair, and the other end of the spring shock absorber 9 is connected to the column frame 1 through a spherical pair; the auxiliary steering motor 10 is fixed on the frame 14, and the auxiliary steering motor 10 is connected to the auxiliary steering rod 11 through the auxiliary steering rocker arm 12; the auxiliary steering rod 11 is connected to the auxiliary steering knuckle 6 through a spherical pair, the auxiliary steering rocker arm 12 is used as the active crank, the auxiliary steering rod 11 is a connecting rod, and the auxiliary steering knuckle 6 is a driven rocker, which together constitute a crank rocker mechanism. The linkage type steering and the gear rack type steering of the present invention are driven in a coordinated manner, which improves the maneuverability and flexibility of the vehicle.

[0035] Specifically, two ends of the main steering knuckle 2 are respectively connected to the C2 joint 101 and the C3 joint 102 of the column frame 1 through a revolute pair to rotate around the connecting axis of the C2 joint 101 and the C3 joint 102 .

[0036] Specifically, the main steering knuckle 2 is connected to the wheel 13 via a wheel side member 15 .

[0037] Specifically, the rack and pinion rotator 4 includes a steering gear housing 41, a worm gear reducer 42, a steering gear 43 and a steering rack 44, wherein the steering gear housing 41 is fixed on the secondary steering knuckle 6; the worm gear reducer 42 is fixed on the steering gear housing 41; the steering gear 43 is located inside the steering gear housing 41, and the steering gear 43 and the worm wheel 421 of the worm gear reducer 42 are installed on the same rotating shaft; the steering rack 44 horizontally penetrates the steering gear housing 41 and is meshed with the steering gear 43; the main steering drive motor 3 is connected to the worm 422 of the worm gear reducer 42, and the worm 422 is meshed with the worm wheel 421; one end of the main steering tie rod 5 is connected to the main steering knuckle 2 through a ball joint, and the other end of the main steering tie rod 5 is connected to one end of the steering rack 44 through a ball joint.

[0038] Specifically, the suspension swing arm 7 includes a first upper suspension arm 71, a second upper suspension arm 72, a first lower suspension arm 73, a second lower suspension arm 74, and a suspension toe link 75. One end of the first upper suspension arm 71 is connected to the S7 joint 103 of the column bracket 1 by a ball joint, and the other end of the first upper suspension arm 71 is connected to the S4 joint 61 of the sub-steering knuckle 6 by a spherical pair; One end of the second upper suspension arm 72 is connected to the S8 joint 104 of the column bracket 1 by a ball joint, and the other end of the second upper suspension arm 72 is connected to the S3 joint 62 of the sub-steering knuckle 6 by a spherical pair; One end of the first lower suspension arm 73 is connected to the S10 joint 105 of the column bracket 1 by a ball joint, and the other end of the first lower suspension arm 73 is connected to the vehicle frame 14 by a ball joint; One end of the second lower suspension arm 74 is connected to the S12 joint 106 of the column bracket 1 by a ball joint, and the other end of the second lower suspension arm 74 is connected to the vehicle frame 14 by a ball joint; One end of the suspension toe link 75 is connected to the S9 joint 107 of the column bracket 1 by a ball joint, and the other end of the suspension toe link 75 is connected to the S6 joint 63 of the sub-steering knuckle 6 by a spherical pair.

[0039] Specifically, the S1 joint 64 of the sub-steering knuckle 6 is connected to the vehicle frame 14 by a spherical pair; The C1 joint 65 of the sub-steering knuckle 6 is connected to the upper end of the guide rod 8 by a cylindrical pair; The connecting axis of the S1 joint 64 and the C1 joint 65 is the rotation axis of the sub-steering knuckle 6; The lower end of the guide rod 8 is connected to the S11 joint 108 of the column bracket 1 by a ball joint, and the guide rod 8 is distributed along the rotation axis direction of the sub-steering knuckle 6; The spring shock absorber 9 is connected to the S2 joint 66 of the sub-steering knuckle 6 by a spherical pair, and the bottom end of the spring shock absorber 9 is connected to the S13 joint 109 of the column bracket 1 by a spherical pair; The sub-steering tie rod 11 is connected to the S5 joint 67 of the sub-steering knuckle 6 by a spherical pair.

[0040] It can be understood that the positions of the spring shock absorber 9 and the guide rod 8 are not unique and are not limited to the structure shown in the figure. As long as the guide rod 8 satisfies the conditions of being connected to the sub-steering knuckle 6 by a cylindrical pair, being connected to the column bracket 1 by a spherical pair, and being installed along the rotation axis of the sub-steering knuckle 6; As long as the spring shock absorber 9 satisfies the conditions of being connected to the column bracket 1 by a spherical pair at the upper end and being connected to the column bracket 1 by a spherical pair at the lower end.

[0041] In the large-angle steering mode, since one end of the first upper suspension arm 71, the second upper suspension arm 72, the suspension toe link 75, and the spring shock absorber 9 are all connected to the sub-steering knuckle 6, and at the same time the other ends of the first upper suspension arm 71, the second upper suspension arm 72, the suspension toe link 75, and the spring shock absorber 9 are connected to the column bracket 1, and the column bracket 1 is also connected to the main steering knuckle 2, these components will rotate together with the sub-steering knuckle 6. Since one end of the first lower suspension arm 73 and the second lower suspension arm 74 is connected to the vehicle frame 14, the first lower suspension arm 73 and the second lower suspension arm 74 will not swing following the steering movement, thus avoiding the movement interference during large-angle steering.

[0042] Specifically, the first suspension lower arm 73 and the second suspension lower arm 74 are cross-distributed. In this way, when turning at a large angle, the inclination angle change of the wheel 13 can be restricted by the actions of the first suspension lower arm 73 and the second suspension lower arm 74, so as to keep the inclination angle of the wheel 13 unchanged when reaching the target angle and ensure that the body height is not affected.

[0043] An embodiment of the present invention also discloses a vehicle, including the suspension steering integrated system as described above.

[0044] The working principle of the present invention:

[0045] Small-angle turning mode:

[0046] The main steering drive motor 3 drives the worm 422 to rotate, amplifies the input torque through the high reduction ratio of the worm and worm gear, and drives the engaged worm wheel 421 and the steering gear 43 to rotate. The steering gear 43 meshes with the steering rack 44, converts the rotational motion into a linear motion of the steering rack 44 along the axial direction, and pushes the main steering tie rod 5 to drive the main steering knuckle 2 to rotate, realizing the steering of the wheel 13. The rotation of the wheel 13 in the small-angle turning state is about 40° or so, generally not exceeding 40° (the values taken for different vehicle designs are different). In the small-angle turning mode, the auxiliary steering motor 10 does not participate in the work, and the auxiliary steering rocker arm 12 and the auxiliary steering tie rod 11 are in a collinear state. At this time, the components related to the auxiliary steering are in a self-locking state.

[0047] Large-angle turning mode:

[0048] The main steering drive motor 3 drives the gear-rack movement, so that the main steering tie rod 5 pushes the wheel 13 to rotate to the limit position in the small-angle turning mode. At the same time, the auxiliary steering motor 10 drives the auxiliary steering rocker arm 12 to rotate, and pulls the auxiliary steering knuckle 6 through the auxiliary steering tie rod 11 (when the auxiliary steering motor 10 works, the auxiliary steering rocker arm 12 rotates around the axis of the auxiliary steering motor 10, and the auxiliary steering rocker arm 12 pulls the auxiliary steering tie rod 11, so that the auxiliary steering knuckle 6 swings within a certain range) and the parts connected to the auxiliary steering knuckle 6 to rotate together, supplementing the remaining turning angle, so that the wheel 13 reaches the final target wheel turning angle. In the large-angle turning mode, the main steering drive motor 3 and the auxiliary steering motor 10 work simultaneously without a sequence. Finally, under the coordinated drive, the steering angle of the wheel 13 reaches 90°, and when the steering angle reaches 90°, the inclination angle of the wheel 13 is 0, and the change in the Z coordinate of the wheel center is 0.

[0049] In this specification, the various embodiments are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. For the same or similar parts among the various embodiments, reference can be made to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and reference can be made to the description in the method part for related parts.

[0050] The foregoing description of the disclosed embodiments enables those skilled in the art to practice or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A suspension steering integrated system, characterized in that, It includes a column frame, a main steering knuckle, a main steering drive motor, a rack and pinion rotator, a main steering tie rod, a secondary steering knuckle, a suspension swing arm, a guide rod, a spring damper, a secondary steering motor, a secondary steering tie rod and a secondary steering rocker arm. The column frame is connected to the wheel through the main steering knuckle; the main steering drive motor is connected to one end of the main steering tie rod through the rack and pinion rotator, and the other end of the main steering tie rod is connected to the main steering knuckle; the secondary steering knuckle is connected to the vehicle frame through a spherical pair; the secondary steering knuckle is connected to the column frame through the suspension swing arm; the rack and pinion rotator is fixed on the secondary steering knuckle; one end of the guide rod is connected to the column frame through a ball joint, and the other end of the guide rod is connected to the secondary steering knuckle through a cylindrical pair; one end of the spring damper is connected to the secondary steering knuckle through a spherical pair, and the other end of the spring damper is connected to the column frame through a spherical pair; the secondary steering motor is fixed on the vehicle frame, and the secondary steering motor is connected to the secondary steering tie rod through the secondary steering rocker arm; the secondary steering tie rod is connected to the secondary steering knuckle through a spherical pair.

2. The integrated suspension steering system according to claim 1, characterized in that, Both ends of the main steering knuckle are connected to the C2 joint and the C3 joint of the column frame through revolute pairs to rotate about the axis connecting the C2 joint and the C3 joint.

3. The integrated suspension steering system according to claim 2, characterized in that, The main steering knuckle is connected to the wheel through a wheel side member.

4. A suspension steering integrated system according to claim 1, characterized in that, The rack and pinion rotator includes a steering housing, a worm and worm gear reducer, a steering gear and a steering rack. The steering housing is fixed on the secondary steering knuckle; the worm and worm gear reducer is fixed on the steering housing; the steering gear is located inside the steering housing, and the steering gear and the worm of the worm and worm gear reducer are installed on the same rotating shaft; the steering rack horizontally penetrates the steering housing and is meshed with the steering gear; the main steering drive motor is connected to the worm of the worm and worm gear reducer, and the worm is meshed with the worm gear. One end of the main steering tie rod is connected to the main steering knuckle through a ball joint, and the other end of the main steering tie rod is connected to one end of the steering rack through a ball joint.

5. The integrated suspension steering system according to claim 1, characterized in that, The suspension swing arm includes a first upper suspension arm, a second upper suspension arm, a first lower suspension arm, a second lower suspension arm and a suspension toe link. One end of the first upper suspension arm is connected to the S7 joint of the column bracket by a ball joint, and the other end of the first upper suspension arm is connected to the S4 joint of the sub-steering knuckle by a spherical pair; One end of the second upper suspension arm is connected to the S8 joint of the column bracket by a ball joint, and the other end of the second upper suspension arm is connected to the S3 joint of the sub-steering knuckle by a spherical pair; One end of the first lower suspension arm is connected to the S10 joint of the column bracket by a ball joint, and the other end of the first lower suspension arm is connected to the vehicle frame by a ball joint; One end of the second lower suspension arm is connected to the S12 joint of the column bracket by a ball joint, and the other end of the second lower suspension arm is connected to the vehicle frame by a ball joint; One end of the suspension toe link is connected to the S9 joint of the column bracket by a ball joint, and the other end of the suspension toe link is connected to the S6 joint of the sub-steering knuckle by a spherical pair.

6. The integrated suspension steering system according to claim 5, wherein The S1 joint of the sub-steering knuckle is connected to the vehicle frame by a spherical pair; The C1 joint of the sub-steering knuckle is connected to the upper end of the guide rod by a cylindrical pair; The connecting axis of the S1 joint and the C1 joint is the rotation axis of the sub-steering knuckle; The lower end of the guide rod is connected to the S11 joint of the column bracket by a ball joint, and the guide rod is distributed along the rotation axis direction of the sub-steering knuckle; The spring damper is connected to the S2 joint of the sub-steering knuckle by a spherical pair, and the bottom end of the spring damper is connected to the S13 joint of the column bracket by a spherical pair; The sub-steering tie rod is connected to the S5 joint of the sub-steering knuckle by a spherical pair.

7. A suspension steering integrated system according to claim 5, characterized in that The first lower suspension arm and the second lower suspension arm are cross-distributed.

8. A vehicle, characterized in that, It includes the suspension steering integrated system according to any one of claims 1-7.

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