Steering suspension device of heavy-load drive-by-wire chassis angle module

Abstract

The utility model relates to the technical field of drive-by-wire chassis, in particular to a steering suspension device of a heavy-load drive-by-wire chassis angle module. Comprising a steering mechanism, the steering mechanism comprises a parallel speed reducing mechanism shell, and an input worm gear, an input worm, a steering motor, an output worm gear, an output worm, a straight gear and a crossed roller bearing are arranged in the parallel speed reducing mechanism shell. The suspension mechanism comprises an air spring airbag, a damping rod, an upper hinge, a lower hinge, a lower hinge adapter flange, a steering mechanism bracket, an upper swing arm and a lower swing arm. The drive-by-wire chassis is applied to the drive-by-wire chassis, on the basis of ensuring omni-directional driving, through double-steering motor redundancy and two-stage worm and gear parallel speed reduction, the requirement for large bearing and the requirement for different driving road surfaces are met, and the drive-by-wire chassis has the positive effects of being high in practicability and wide in application range.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of drive -by -wire chassis, especially belongs to a kind of heavy load drive -by -wire chassis corner module's steering suspension device. BACKGROUND

[0002] With the acceleration of the process of automobile intelligentization and electrification, drive-by-wire chassis corner module will become an important development direction of future automobile chassis technology. In the future, drive-by-wire chassis corner module will be more intelligent, integrated and efficient, providing more reliable and efficient chassis support for autonomous vehicles. At the same time, with the continuous progress of technology and the reduction of cost, the application range of drive-by-wire chassis corner module will also continue to expand, from high-end vehicles to gradually popularize to low-end vehicles. Corner module integrates driving, steering, braking and suspension. Corner module integrates various chassis functions in one, significantly reducing the number and weight of parts, and each wheel can be independently controlled to achieve more flexible and precise control, such as U-turn, 90° steering, lateral translation and other special driving capabilities.

[0003] The existing drive-by-wire chassis corner module has obvious defects in design and function, which mainly reflects in the following points: 1. The traditional drive-by-wire chassis corner module uses a single steering motor, and the steering torque is small; 2. The traditional drive-by-wire chassis corner module has large lateral size, which requires a scene for operation and cannot be used in all terrains; 3. The traditional drive-by-wire chassis corner module has low carrying capacity and cannot meet the heavy load scene; 4. The traditional drive-by-wire chassis corner module cannot continue to work in the case of steering motor failure. INVENTION CONTENTS

[0004] The purpose of the present utility model is to provide a heavy load drive-by-wire chassis corner module steering suspension device to achieve large torque output and redundant control of steering.

[0005] The heavy load drive-by-wire chassis corner module steering suspension device provided by the utility model is characterized by comprising a steering mechanism, the steering mechanism comprising a parallel reduction mechanism housing, the parallel reduction mechanism housing being provided with an input worm gear, an input worm, a steering motor, an output worm gear, an output worm, a spur gear and a cross roller bearing, and the suspension mechanism comprising an air spring air bag, a damping rod, an upper hinge, a lower hinge, a lower hinge adapter flange, a steering mechanism bracket, an upper swing arm and a lower swing arm, wherein,

[0006] The two input worm wheels, the input worm and the steering motor are arranged on the left and right sides of the parallel reduction mechanism shell respectively, the input worm wheel is engaged with the input worm, the steering motor is connected with the input worm, the two input worm wheels are connected with the output worm respectively, a spur gear is installed at the right side shaft shoulder of the output worm, the output worm is a double worm structure integrated in upper and lower parts, the upper and lower worm gears of the output worm are engaged with the two output worms respectively, and a crossed roller bearing is embedded on the output worm; the steering mechanism bracket is arranged below the steering mechanism, is connected and fixed with the parallel reduction mechanism shell, the upper end of the lower hinge adapter flange is fixedly connected with the steering mechanism bracket, the upper hinge is arranged above the parallel reduction mechanism shell, the lower hinge is arranged below the lower hinge adapter flange, the output shaft of the output worm penetrates through the steering mechanism bracket and is connected and fixed with the upper hinge and the lower hinge at the upper end and the lower end respectively, an air spring air bag is installed on the upper hinge, a damping rod is fixedly connected with the lower swing arm, one end of the upper swing arm and the lower swing arm is provided with a bearing, cooperates with an internal thread sleeve and is locked with the upper hinge and the lower hinge respectively, and the other end of the upper swing arm and the lower swing arm is embedded with a rubber sleeve.

[0007] In addition, the photoelectric switch is installed on the upper hinge through a photoelectric switch support, the steering limit switch is installed on the lower swing arm, the absolute value encoder is fixed on one side of the parallel reduction mechanism shell, the output shaft of the absolute value encoder is matched with the output worm through a flat key and is arranged in the inner cavity of the end of the output worm, and the photoelectric switch, the steering limit switch and the absolute value encoder are respectively connected into the control circuit of the wire control chassis.

[0008] Further, bearings are arranged at the shaft shoulders of the input worm wheel and the input worm and are axially positioned through bearing axial positioning sleeves.

[0009] Further, bearings are arranged at the left and right sides of the output worm, the bearings are arranged at the left and right sides of the two output worms, are vertically tangent matched and are axially limited through bearing axial positioning sleeves.

[0010] Further, the outer end of the bearing on the side of the output worm near the spur gear is further provided with a spur gear hole position sealing plate, the spur gear hole position sealing plate is a semicircular structure, the outer circle of the spur gear hole position sealing plate is matched with and fixedly connected with the inner cavity of the parallel reduction mechanism shell, and the inner circle of the spur gear hole position sealing plate is matched with and fixedly connected with the outer diameter of the bearing.

[0011] Further, the upper hinge and the lower hinge are fixedly connected with the output shaft of the output worm through fixed pins.

[0012] Further, a bearing is arranged at the connection between the lower hinge adapter flange and the steering mechanism bracket and is fixed through a shaft shoulder; the lower hinge adapter flange is embedded with a bearing and a skeleton oil seal, and a clasp spring is arranged between the bearing and the skeleton oil seal.

[0013] Further, the speed ratio of the input worm wheel and the input worm is less than 30, and the speed ratio of the output worm wheel and the output worm is greater than 50.

[0014] The steering suspension device of the heavy-load-by-wire chassis corner module has the advantages that the steering motor outputs torque, the motor torque is amplified by the input worm wheel and the input worm, is input to the output worm wheel and the output worm, is subjected to secondary torque amplification, and is amplified by a high multiple. The steering motor still can continue to work when one steering motor fails. The real-time detection of the photoelectric switch is used for calibrating the wheel zero position, and the real-time detection of the limit switch realizes the stop control of the rotation angle of the wheel when the wheel is steered and exceeds the left and right limit positions, thereby effectively ensuring the safe and reliable driving. The application of the steering suspension device of the heavy-load-by-wire chassis corner module has the positive effects that on the basis of ensuring the omnidirectional driving, the dual-steering motor redundancy and the two-stage worm wheel and worm parallel reduction meet the requirements of large load and different driving road surfaces, and have the positive effects of strong practicability and wide application range. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 It is a whole structure schematic view of the utility model;

[0016] Figure 2 It is a structure schematic view of the steering mechanism outside of the utility model;

[0017] Figure 3 It is a structure schematic view of the upper shaft side inside of the steering mechanism of the utility model;

[0018] Figure 4 It is a structure schematic view of the lower shaft side inside of the steering mechanism of the utility model;

[0019] Figure 5 It is a structure schematic view of the suspension mechanism of the utility model;

[0020] Figure 6 It is a sectional structure schematic view of the output worm wheel of the utility model;

[0021] Figure 7 It is a structure schematic view of the output worm of the utility model;

[0022] Figure 8The cross section structure schematic view of the lower hinge adapter flange inside connection of the utility model is shown in the figure;

[0023] Figure 9 The cross section structure schematic view of the upper hinge and the upper swing arm connection of the utility model is shown in the figure;

[0024] Figure 10 The structure schematic view of the application example of the utility model is shown in the figure. Specific implementation

[0025] As Figures 1-10 shown, the utility model provides a kind of heavy load line control chassis angle module's steering suspension device, including steering mechanism 1, suspension mechanism 2.It is specifically, steering mechanism 1 includes input worm wheel 101, input worm 102, output worm wheel 103, output worm 104, straight gear 105, parallel reduction mechanism shell 106, crossed roller bearing 107, steering motor 108, bearing axial positioning sleeve 109, straight gear hole position sealing plate 1010, absolute value encoder 1011, photoelectric switch 1012, steering limit switch 1013.Suspension mechanism 2 includes air spring air bag 201, damping rod 202, upper hinge 203, lower hinge 204, lower hinge adapter flange 205, steering mechanism bracket 206, upper swing arm 207, lower swing arm 208, inner thread sleeve 209, rubber sleeve 2010, photoelectric switch support 2011.

[0026] The connection relationship of the steering mechanism is described below. The two sets of input worm gears 101 are respectively engaged with the input worm 102 and arranged left and right in the parallel reduction mechanism housing 106. The two steering motors 108 are respectively fixed on the left and right sides of the parallel reduction mechanism housing 106 and are respectively connected with the input worm 102 on the same side through a key. Bearings are assembled at the shaft shoulders of the input worm gears 101 and the input worm 102, and the bearings are axially positioned by the bearing axial positioning sleeve 109. The two output worms 104 are assembled in the parallel reduction mechanism housing 106, the output worm 104 is connected with the input worm gear 101 through a key, and the spur gear 105 is installed on the right shaft shoulder of the output worm 104 and is fixed with the output worm 104 through a key, wherein the vertical center distance of the two output worms 104 is the center distance of the two spur gears 105 assembled. Bearings are respectively installed on the left and right sides of the output worm 104, the bearings are respectively tangent to the left and right sides of the two output worms 104 in the vertical direction, and are axially limited by the bearing axial positioning sleeve 109. The outer end of the bearing on the output worm 104 near the spur gear side is also assembled with a spur gear hole position sealing plate 1010, the spur gear hole position sealing plate 1010 is a semicircular structure, the outer circle of the spur gear hole position sealing plate 1010 is matched with the inner cavity of the parallel reduction mechanism housing 106 and is fixedly connected with it, and the inner circle of the spur gear hole position sealing plate 1010 is matched with the outer diameter of the selected bearing and is fixedly connected with it. The output worm 103 is an integrated double worm structure, the upper and lower worms of the output worm 103 are respectively engaged with the two output worms 104. The output worm 103 is embedded with a cross roller bearing 107, which is fixedly connected inside the parallel reduction mechanism housing 106. The absolute value encoder 1011 is fixed on one side of the parallel reduction mechanism housing 106, the output shaft of the absolute value encoder 1011 is in key cooperation with the output worm 104 and is placed in the inner cavity of the output worm 104, and the above-mentioned absolute value encoder is connected to the control circuit of the wire control chassis.

[0027] The steering mechanism of the device can achieve better steering control, and the steering control principle of the steering mechanism is as follows.

[0028] Two steering motors 108 start to work, and the absolute value encoder 1011 accurately identifies the number of turns of the output worm 104, and then converts it into a steering angle, which is fed back to the line control chassis steering controller in real time, and then the steering is accurately and in real time. Two input worms 102 are driven to rotate by two steering motors 108 at the same time, the input worm gear 101 is engaged with the input worm 102, and then drives the input worm gear 101 to rotate, the input worm gear 101 is in a key joint with the output worm 104, and the input worm gear 101 drives the output worm 104 to rotate, the two output worms 104 are connected in parallel through the straight gear 105, and the two output worms 104 are engaged with the upper and lower worm gears of the output worm gear 103 respectively, and the torque is transmitted to the output worm gear 103 at the same time, and the output worm gear 103 is driven to rotate, the output worm gear 103 is fixed on the parallel reduction mechanism shell 106 through the two cross roller bearings 107, the inner and outer rings of the cross roller bearings 107 can rotate relative to each other, the output worm gear 103 rotates without driving the parallel reduction mechanism shell 106 to rotate, the output worm gear 103 is locked with the upper hinge 203 and the lower hinge 204, and the output worm gear 103 remains stationary, and the output worm 104 makes a circular motion around the output worm gear 103, thereby driving the entire steering mechanism to rotate.

[0029] The connection relationship of the suspension mechanism is described as follows. The steering mechanism bracket 206 is arranged below the steering mechanism 1, is fixedly connected with the parallel reduction mechanism shell 106, the upper end of the lower hinge adapter flange 205 is fixedly connected with the steering mechanism bracket 206, the upper hinge 203 is arranged above the parallel reduction mechanism shell 106, the lower hinge 204 is arranged below the lower hinge adapter flange 205, the output shaft of the output worm gear 103 penetrates through the steering mechanism bracket 206, and the output shaft is fixedly connected with the upper hinge 203 and the lower hinge 204 through bolts at the upper end and the lower end respectively, and the upper hinge 203 and the lower hinge 204 are further fixedly connected with the output shaft of the output worm gear 103 through fixed pins in a concentric mode. The bearing is arranged at the connection position of the lower hinge adapter flange 205 and the steering mechanism bracket 206, and the bearing is fixed through the shaft shoulder to prevent the bearing from moving axially, thereby ensuring the concentricity of the shaft hole positions of the lower hinge adapter flange 205 and the steering mechanism bracket 206. The bearing and the skeleton oil seal 301 are embedded in the inner cavity of the lower hinge adapter flange 205, the snap spring 302 is arranged between the bearing and the skeleton oil seal 301, and further axial positioning is realized. The air spring air bag 201 is arranged on the upper hinge 203, the damping rod 202 is fixedly connected with the lower swing arm 208, the upper swing arm 207 and the lower swing arm 208 are provided with bearings and embedded inner thread sleeves 209 at one end and are locked with the upper hinge 203 and the lower hinge 204 respectively, and the other end of the upper swing arm 207 and the lower swing arm 208 is embedded with a rubber sleeve 2010. The photoelectric switch support 2011 is a bent plate, is welded with the upper hinge 203, and is provided with a reinforcing rib at the bent position, and the steering limiting switch 1013 is arranged on the left and right of the lower swing arm 208. The photoelectric switch and the steering limiting switch are connected to the control circuit of the wire control chassis.

[0030] The two steering motors 108, the two-stage worm gear and the two sets of input worm gears 101 and input worm gears 102 can realize large-torque output and redundant control of steering, and the steering of the angle module can be realized even if one motor is damaged.

[0031] In the preferred embodiment of the utility model, the steering motor 108 is arranged in the vacancy of the parallel reduction mechanism shell 106 and is arranged horizontally, the outer side of the steering motor 108 is flush with the outer side of the parallel reduction mechanism shell 106, the longitudinal space of the angle module is saved, and interference during steering is avoided.

[0032] In the preferred embodiment of the utility model, the speed ratio of the output worm gear 103 and the output worm gear 104 is greater than 50, and the speed ratio of the input worm gear 101 and the input worm gear 102 is less than 30, so that the input worm gear and the input worm gear are prevented from being stuck during the operation of one motor.

[0033] In the preferred embodiment of the utility model, the shaft shoulder is not arranged in the inner cavity of parallel reduction mechanism shell 106, and bearing axial positioning sleeve 109 is directly assembled for axial limiting, which greatly saves the cost.

[0034] In the preferred embodiment of the utility model, cross roller bearing 107 is embedded into output worm gear 103, which greatly reduces the vertical space of the reduction mechanism, facilitates installation, can bear bearing force and radial force, and can bear radial force.

[0035] In the preferred embodiment of the utility model, the bearings installed on the left and right sides of output worm 104 are selected as tapered roller bearings, which can bear large axial force, prevent the axial force of output worm 104 from damaging the bearing during operation, and improve the service life of the reduction mechanism.

[0036] In the preferred embodiment of the utility model, air spring air bag 201 is directly arranged at upper hinge 203, so that the center line thereof is in a straight line with the output axis of output worm 103, the lever ratio of suspension mechanism 2 is 1, and large load can be carried.

[0037] In the preferred embodiment of the utility model, absolute value encoder 1011 is directly fixed with parallel reduction mechanism shell 106, which can reduce the transverse size of the reduction mechanism and prevent interference problems when the wheels are turned at a large angle.

[0038] As shown in Figure 10 In the preferred embodiment of the utility model, the utility model can adapt to different driving mechanisms and braking mechanisms in the prior art, and only needs to change the connection position of steering mechanism bracket 206 with the driving mechanism and the braking mechanism in the prior art according to the specific actual situation, so the applicability is strong.

[0039] When the device is used, the steering motor 108 outputs torque, the input worm gear 101 and the input worm 102 are used to amplify the motor torque, the output worm gear 103 and the output worm 104 are input, the torque is amplified twice, and the torque is amplified by a high multiple. Two output worms 104 are used, and the straight gear 105 is connected in parallel to make the torque of the two steering motors 108 superimposed together, realize the output of large torque, and still realize omnidirectional movement when large load is carried out. When one steering motor 108 is damaged, since the two output worms 104 are connected in parallel, one steering motor 108 can still drive the two output worms 104 to rotate and transmit force to the input worm gear 101 and the input worm 102 on the other side. The input worm gear 101 and the input worm 102 select a speed ratio less than 30, which can effectively avoid the situation that the input worm gear 101 and the input worm 102 are stuck. Through the structure design of the output worm gear 103, the upper hinge 203 and the lower hinge 204 are locked, the output worm 104 rotates around the output worm gear 103, and the whole steering mechanism 1 rotates at the same time, so as to ensure the omnidirectional movement of the angle module of the line control chassis. The structure design of the air spring air bag 201 and the damping rod 202, and the setting of the lever ratio of the suspension mechanism is 1, which can realize the load bearing of the whole vehicle with large mass. In the actual application of the line control chassis, since the output worm gear 103 and the output worm 104 have self-locking ability, when the wheel rotates to a certain angle, it can be kept and will not appear the situation that the wheel shakes in the running process of the vehicle. The photoelectric switch 1012 realizes the calibration of the zero position of the wheel by detecting the symmetrical angle of the two sides of the wheel. In the specific embodiment of the utility model, the photoelectric switch 1012 adopts the form of detecting two symmetrical bolts on the parallel reduction mechanism shell 106. When the wheel is steering, if it rotates beyond the left and right limit positions, it will touch the steering limit switch 1013 assembled on the lower swing arm 208, so as to stop steering, effectively guaranteeing the safe and reliable use of the device.

Claims

1. A steering suspension arrangement for a heavy-duty by-wire chassis corner module, characterized by The steering mechanism comprises a parallel deceleration mechanism shell, and an input worm wheel, an input worm, a steering motor, an output worm wheel, an output worm, a spur gear and a cross roller bearing are arranged in the parallel deceleration mechanism shell. The two groups of input worm wheels, input worms and steering motors are arranged on the left and right sides in the parallel deceleration mechanism shell respectively, the input worm wheels are engaged with the input worms, the steering motors are connected with the input worms, the two input worm wheels are connected with the output worms respectively, a spur gear is installed at the shaft shoulder of the right side of the output worm, the output worm wheel is a double worm structure integrated in upper and lower parts, the upper and lower worm wheels of the output worm wheel are engaged with the two output worms respectively, and the cross roller bearing is embedded in the output worm wheel; the steering mechanism bracket is arranged below the steering mechanism, is connected and fixed with the parallel deceleration mechanism shell, the upper end of the lower hinge adapter flange is fixedly connected with the steering mechanism bracket, the upper hinge is arranged above the parallel deceleration mechanism shell, the lower hinge is arranged below the lower hinge adapter flange, the output shaft of the output worm wheel penetrates through the steering mechanism bracket and is connected and fixed with the upper hinge and the lower hinge at the upper end and the lower end respectively, the air spring air bag is installed on the upper hinge, the damping rod is fixedly connected with the lower swing arm, one end of the upper swing arm and the lower swing arm is assembled with a bearing, cooperates with an internal thread sleeve and is locked with the upper hinge and the lower hinge respectively, and the other end of the upper swing arm and the lower swing arm is embedded with a rubber sleeve. In addition, the photoelectric switch is installed on the upper hinge through a photoelectric switch support, the steering limit switch is installed on the lower swing arm, the absolute value encoder is fixed on one side of the parallel deceleration mechanism shell, the output shaft of the absolute value encoder is matched with the output worm through a key and is arranged in the inner cavity of the end of the output worm, and the photoelectric switch, the steering limit switch and the absolute value encoder are respectively connected into the control circuit of the wire control chassis.

2. A steering suspension arrangement for a heavy duty line control chassis corner module according to claim 1, characterized in that Bearings are assembled at the shaft shoulders of the input worm wheel and the input worm and are axially positioned through bearing axial positioning sleeves.

3. A steering suspension arrangement for a heavy duty line control chassis corner module according to claim 2, characterised in that, Bearings are respectively installed on the left and right sides of the output worm, the bearings are respectively tangent to the left and right sides of the two output worms in the vertical direction and are axially limited through bearing axial positioning sleeves.

4. A steering suspension arrangement for a heavy duty line control chassis corner module according to claim 3, characterised in that, The outer end of the bearing on the side of the output worm near the spur gear is also assembled with a spur gear hole position sealing plate, the spur gear hole position sealing plate is a semicircular structure, the outer circle of the spur gear hole position sealing plate is matched with and fixed with the inner cavity of the parallel deceleration mechanism shell, and the inner circle of the spur gear hole position sealing plate is matched with and fixed with the outer diameter of the bearing.

5. A steering suspension arrangement for a heavy duty line control chassis corner module according to claim 4, characterised in that, The upper hinge and the lower hinge are fixed with the output shaft of the output worm in concentric cooperation through fixed pins.

6. A steering suspension arrangement for a heavy duty line control chassis corner module according to claim 5, wherein, Bearings are installed at the connection between the lower hinge adapter flange and the steering mechanism bracket and are fixed through shaft shoulders; the lower hinge adapter flange is embedded with a bearing and a skeleton oil seal, and a clasp spring is installed between the bearing and the skeleton oil seal.

7. A steering suspension arrangement for a heavy duty line control chassis corner module according to claim 6, characterised in that, The speed ratio of the input worm wheel and the input worm is less than 30, and the speed ratio of the output worm wheel and the output worm is greater than 50.

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