CN114132131B - A modular chassis system with large wheel travel and steering adjustment and control method thereof - Google Patents
A modular chassis system with large wheel travel and steering adjustment and control method thereof Download PDFInfo
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- CN114132131B CN114132131B CN202111479345.6A CN202111479345A CN114132131B CN 114132131 B CN114132131 B CN 114132131B CN 202111479345 A CN202111479345 A CN 202111479345A CN 114132131 B CN114132131 B CN 114132131B
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- pneumatic spring
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G11/00—Resilient suspensions characterised by arrangement, location or kind of springs
- B60G11/26—Resilient suspensions characterised by arrangement, location or kind of springs having fluid springs only, e.g. hydropneumatic springs
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
Abstract
The invention belongs to the technical field of automobile chassis, and discloses a modularized chassis system with large-stroke wheel steering and a control method thereof, wherein a hydro-pneumatic spring is provided with a hydro-pneumatic spring outer cylinder body and a hydro-pneumatic spring supporting rod sleeved on the inner side of the hydro-pneumatic spring outer cylinder body, and the lower end of the hydro-pneumatic spring supporting rod is connected with a hub motor; the lower end of the hydro-pneumatic spring outer cylinder body is provided with a steering arm through a steering arm mounting seat, one end of the steering arm is connected with the lower end of the outer side of the hydro-pneumatic spring supporting rod through a rotating shaft, and the other end of the steering arm is connected with a steering power source through the rotating shaft. The invention integrates the hydro-pneumatic spring guide arm and the knuckle arm and is arranged at the lower part of the hydro-pneumatic spring outer cylinder body, the knuckle arm and the vehicle body are still relatively all the time in the whole suspension jumping and active adjusting process, the outer cylinder body and the vehicle body are more fully connected, the stress is better, the structure is simple, the arrangement is convenient, the wheel jumping and the wheel steering movement are mutually independent and are not mutually influenced, and better obstacle crossing capacity and high-speed running stability are provided for the high-performance off-road vehicle.
Description
Technical Field
The invention belongs to the technical field of automobile chassis, and particularly relates to a modularized chassis system with wheels capable of adjusting steering in a large stroke and a control method thereof.
Background
At present, in the running of a high-performance off-road vehicle on complex terrain, in order to improve the capability of crossing a trench and a vertical wall, a chassis system is required to have enough subsurface pressure under the adjustment of free travel or active travel to obtain better driving force, and meanwhile, in the running of a paved road surface, the chassis can actively reduce the gravity center, so that the vehicle has high-speed running capability. The conventional suspension guide arm is mainly used for controlling the free jumping travel and the active adjusting travel of the wheel train in cooperation with the hydro-pneumatic spring, the free jumping travel and the active adjusting travel of the wheel train are influenced by structural space, and the track change caused by the guide arm is larger along with the increase of the jumping travel of the wheel train, so that the active adjusting travel of the hydro-pneumatic spring is limited and cannot span a larger trench and a vertical wall surface. The most critical 2 motion indexes in the motion geometry of the suspension system are the jumping travel of the wheels and the steering angle of the wheels, and the traditional automobile wheels are usually accompanied by jumping steering in the jumping process, so that the vehicle is easy to deviate and unstably appear.
The patent CN202111020226.4 is a structure in which a steering mechanism is designed at the top, and can realize larger gear train stroke adjustment, but a fixing mechanism is arranged at the top, a stress arm of a gear train is increased after lifting, a top mounting surface is stressed to be increased, the structure is not suitable for a vehicle type with larger load, a steering device is an independent worm gear and is arranged at the top, occupies more top space and is unfavorable for arrangement of a cab, a seat and the like, a steering mechanism of independent wheels is adopted, control errors and delay exist when left and right wheels are in linkage steering, potential safety hazards exist when a vehicle runs at a high speed and cannot be matched with a traditional trapezoid steering mechanism and the like, and a guiding point of the steering arm is formed by the top of an outer cylinder of the oil gas spring and the bottom of a supporting rod of the oil gas spring, and the steering arm is increased when the active adjustment stroke is overlarge, so that the active adjustment length is smaller.
Through the above analysis, the problems and defects existing in the prior art are as follows:
(1) The stress arm of the existing automobile steering mechanism is increased after the wheel train is lifted, the stress of the top mounting surface is increased, and the existing automobile steering mechanism is not suitable for automobile types with large loads.
(2) The existing automobile steering mechanism occupies more top space, and is not beneficial to the arrangement of a cab, a seat and the like.
(3) The existing automobile steering mechanism has control errors and delays when left and right wheels are in linkage steering, potential safety hazards exist when the automobile runs at a high speed, and the existing automobile steering mechanism cannot be matched with a traditional trapezoidal steering mechanism and the like.
(4) The existing automobile steering mechanism can lead to the increase of the guide arm when the active adjustment stroke is overlarge, and the active adjustment length is smaller.
The difficulty in solving the problems and the defects is that the patent is suitable for the unmanned vehicle chassis and the paving or the special pavement with lower load from the view of the automobile design experience. The driver's cabin ergonomic arrangement of manned vehicle is not fit for, simultaneously, the vehicle speed of independently steering system is lower, can't adapt to the off-road of high-speed driving and non-pavement road surface.
The method solves the problems and the defects, and has the significance that along with the sustainable development of human socioeconomic, the improvement of natural disaster early warning response mechanisms and the increase of natural exploration lovers in various countries increase the demands on high-performance off-road vehicles. The patent has the significance of providing a modularized chassis system with wheels capable of adjusting steering in a large stroke and a control method thereof, and the modularized chassis system can be configured with different steering systems according to the use requirements so as to achieve the high-speed running and off-road of polar terrain.
Disclosure of Invention
Aiming at the problems existing in the prior art, the invention provides a modularized chassis system for adjusting and steering of a large-stroke wheel and a control method thereof.
The invention is realized in that a modular chassis system for wheel large travel adjustment steering comprises:
the buffer module is used for supporting the wheel through the hydro-pneumatic spring and carrying out vibration buffer;
The steering module is used for connecting a steering power source with the wheels through the steering arm and driving the wheels to steer;
and the steering power source is used for providing steering power through the steering power assembly.
Further, the hydro-pneumatic spring is provided with a hydro-pneumatic spring outer cylinder body and a hydro-pneumatic spring supporting rod sleeved on the inner side of the hydro-pneumatic spring outer cylinder body, and the lower end of the hydro-pneumatic spring supporting rod is connected with the hub motor.
Further, the steering arm is installed at the lower end of the hydro-pneumatic spring outer cylinder body of the hydro-pneumatic spring through a steering arm installation seat, one end of the steering arm is connected with the lower end of the outer side of the hydro-pneumatic spring supporting rod of the hydro-pneumatic spring through a rotating shaft, the other end of the steering arm is connected with a steering power source through the rotating shaft, and a fixed cover plate matched with the steering arm installation seat is arranged at the lower end of the steering arm.
Further, the steering arm is in sliding fit with the steering arm mounting seat, and an upper end face bearing and a lower end face bearing are respectively arranged at the upper end and the lower end of the steering arm.
Further, a plurality of mounting holes are formed in the bottom of the outer cylinder body of the hydro-pneumatic spring, a plurality of threaded holes corresponding to the mounting holes are formed in the steering arm mounting seat, and the steering arm mounting seat is fixedly connected with the outer cylinder body of the hydro-pneumatic spring through bolts penetrating through the threaded holes.
Further, the steering arm is provided with a steering arm, an upper stabilizing arm and a lower stabilizing arm which are connected through a pin shaft in sequence, the steering arm is sleeved outside a steering arm mounting seat, and the outer end of the lower stabilizing arm is connected with the lower end of the outer side of the hydro-pneumatic spring support rod through a rotating shaft.
Further, the whole outer structural surface of the hydro-pneumatic spring outer cylinder body is provided with a vehicle body mounting bracket, and the vehicle body mounting bracket is mounted and matched according to a vehicle arrangement space.
Another object of the present invention is to provide a control method of a modular chassis system for wheel large-stroke adjustment steering, the control method of the modular chassis system for wheel large-stroke adjustment steering comprising:
When the wheel is impacted by vertical load, the vertical impact of the road surface is transmitted to the hydro-pneumatic spring supporting rod through the wheel and the hub motor, and is uniformly transmitted to the hydro-pneumatic spring outer cylinder body along the axial direction of the hydro-pneumatic spring supporting rod through hydro-pneumatic pressure in the hydro-pneumatic spring, and is transmitted to a vehicle body through a vehicle body mounting bracket at the outer side of the hydro-pneumatic spring outer cylinder body;
When the wheel is impacted by side load, the side impact of the road surface is transmitted to the hydro-pneumatic spring supporting rod through the wheel and the hub motor, then the triangle stable structure formed by the hydro-pneumatic spring supporting rod, the upper stable arm and the lower stable arm is transmitted to the hydro-pneumatic spring outer cylinder body, and then the triangle stable structure is transmitted to the vehicle body through the vehicle body mounting bracket;
And thirdly, when the wheel needs to be turned, the steering gear pushes the knuckle arm to rotate around the axis of the hydro-pneumatic spring through one end of the knuckle arm, and then drives the upper stabilizing arm to be linked with the lower stabilizing arm, so that the hydro-pneumatic spring supporting rod rotates relative to the hydro-pneumatic spring outer cylinder body, and the turning of the wheel is realized.
Further, when the steering power source is an ackerman trapezoid steering table with a rack-and-pinion or a recirculating ball steering, the left and right wheels are in linkage steering;
when steering, the steering push rod pushes the steering knuckle arm to enable the steering knuckle arm to rotate on the steering arm mounting seat, and then the dynamic triangular stabilizing mechanism formed by the upper stabilizing arm, the lower stabilizing arm and the hydro-pneumatic spring support rod is driven to rotate, so that the rotation of the hub motor and the wheels is realized, and the steering of the whole vehicle is realized.
Further, when the steering power source is an electric push rod, a hydraulic push rod, a gear or a worm gear mechanism, single wheels can independently steer and realize in-situ steering, the push rod is not influenced by the linkage of left and right wheels during steering, the steering of the single wheels at a larger angle can be realized, and in-situ steering is realized.
By combining all the technical schemes, the invention has the advantages and positive effects that:
According to the invention, the hydro-pneumatic spring guide arm and the knuckle arm are integrated and arranged at the lower part of the hydro-pneumatic spring outer cylinder body, the knuckle arm and the vehicle body are always relatively static in the whole suspension jumping and active adjusting process, the problem of wheel jumping and steering is solved, and meanwhile, the outer cylinder body and the vehicle body are more fully connected and better in stress.
The invention separates the motion geometry of wheel jump and wheel steering, the knuckle arm and the vehicle body are still relatively all the time in the whole wheel jump and active adjustment process, the jump steering problem in the wheel jump process is solved, and meanwhile, the steering system only has space motion when the wheels are steering, and the motion amplitude is small. Thus, without changing hard points, steering mechanisms of various structural forms can be matched without motion interference with other components of the suspension system.
The invention has simple structure, convenient arrangement, even distribution of mounting stress, mutually independent wheel runout and wheel steering movement, and no influence. The high-performance cross-country vehicle is suitable for high-performance cross-country vehicles, and provides better obstacle surmounting capability and high-speed running stability for the high-performance cross-country vehicles.
The hydro-pneumatic spring outer cylinder can be designed with fixed points, so that the stress is more uniform, and the whole vehicle structural arrangement is convenient;
The steering mechanism is arranged at the lower part of the outer cylinder of the hydro-pneumatic spring, the wheel train does not move up and down relative to the vehicle body in the moving process, the jumping steering problem caused by wheel jumping is solved, and meanwhile, the mechanism of the knuckle arm is high in interchangeability like a traditional vehicle. The device can be adapted to an Ackerman trapezoidal steering geometric system of traditional vehicle types such as a gear rack steering device, a recirculating ball steering device and the like, and also can be adapted to a novel independent wheel steering device of an electric push rod or a worm gear;
Compared with a mechanism in which the control points of the guide arm are respectively arranged at the upper part of the hydro-pneumatic spring outer cylinder and the bottom of the hydro-pneumatic spring support rod, the control points of the guide arm are respectively arranged at the bottom of the hydro-pneumatic spring outer cylinder and the bottom of the hydro-pneumatic spring support rod, the active adjustment stroke can be doubled under the same size specification, and the structure stress is better.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments of the present application will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural view of a modular chassis system for large-travel adjustment steering of wheels according to an embodiment of the present invention.
Fig. 2 is an enlarged partial schematic view of the portion a in fig. 1 according to an embodiment of the present invention.
Fig. 3 is an exploded view of a modular chassis system for large-travel adjustment steering of wheels provided by an embodiment of the present invention.
In the figure, 1, an outer cylinder body of a hydro-pneumatic spring; 2, a hydro-pneumatic spring supporting rod, 3, a steering arm mounting seat, 4, an upper end face bearing, 5, a steering knuckle arm, 6, a lower end face bearing, 7, a fixed cover plate, 8, an upper stabilizing arm, 9, a lower stabilizing arm, 10, a tire rim, 11, a hub motor, 12 and a vehicle body mounting bracket.
Fig. 4 is a schematic view of a steering arm according to an embodiment of the present invention.
Fig. 5 is a schematic diagram of a hydro-pneumatic spring without adjustment load according to an embodiment of the invention.
Fig. 6 is a schematic diagram of frontal load when actively adjusting 200mm according to an embodiment of the present invention.
Fig. 7 is a schematic diagram of frontal load when actively adjusting 400mm according to an embodiment of the present invention.
Fig. 8 is a schematic diagram of a steering system employing a hydraulic push rod mechanism for straight running according to an embodiment of the present invention.
Fig. 9 is a schematic diagram of a steering system for conventional turning using a hydraulic push rod mechanism according to an embodiment of the present invention.
Fig. 10 is a schematic view of a steering system employing a hydraulic push rod mechanism for in-situ turning, according to an embodiment of the present invention.
Fig. 11 is a schematic diagram showing that the upper guide arm provided by the embodiment of the invention is arranged at the upper part or the bottom of the outer cylinder body of the hydro-pneumatic spring, and the upper guide arm is arranged at the bottom of the hydro-pneumatic spring under the condition of the same structural strength and function, so that the mass and the length of the guide arm can be reduced by about 50%.
Fig. 12 is a left and right hydro-pneumatic spring layout provided by an embodiment of the invention.
Detailed Description
The present invention will be described in further detail with reference to the following examples in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
In view of the problems existing in the prior art, the invention provides a modular chassis system for adjusting and steering a large travel of wheels and a control method thereof, and the invention is described in detail below with reference to the accompanying drawings.
As shown in fig. 1 to 3, the modular chassis system for large-travel adjustment steering of wheels provided by the embodiment of the invention comprises a hydro-pneumatic spring and a steering arm.
The hydro-pneumatic spring is divided into a hydro-pneumatic spring outer cylinder body 1 and a hydro-pneumatic spring support rod 2, wherein a vehicle body mounting bracket 12 can be arranged on the whole outer structural surface of the hydro-pneumatic spring outer cylinder body 1, mounting and matching are carried out according to a vehicle arrangement space, meanwhile, a steering arm mounting seat mounting hole is formed in the bottom of the hydro-pneumatic spring outer cylinder body 1, one end of the hydro-pneumatic spring support rod 2 is connected with the hydro-pneumatic spring outer cylinder body 1, and the other end of the hydro-pneumatic spring support rod is connected with a hub motor 11. The tire rim 10 and the in-wheel motor 11 are connected by in-wheel bolts.
The steering arm mounting seat 3 is provided with a threaded hole and is fixedly connected with the hydro-pneumatic spring outer cylinder body 1 through a bolt, and a gap is formed between an inner hole of the steering arm mounting seat 3 and the hydro-pneumatic spring support rod 2, so that no relative friction is caused between the hydro-pneumatic spring support rod 2 and the steering arm mounting seat 3 in the moving process;
The inner hole of the knuckle arm 5 is in sliding fit with the hydro-pneumatic spring support rod 2, an end face bearing is arranged in the vertical axial direction, and the knuckle arm 5 can axially rotate around the hydro-pneumatic spring through clamping of the fixed cover plate 7. The steering knuckle arm 5 is provided with two force arms around the rotation center, one end of the steering knuckle arm is connected with the upper stabilizing arm 8 through a bolt, and the other end of the steering knuckle arm is connected with a steering power source;
One end of the upper stabilizing arm 8 is connected with the lower stabilizing arm 9 through a pin shaft, and the lower stabilizing arm 9 is connected with the hydro-pneumatic spring supporting rod 2 through a pin shaft, so that the hydro-pneumatic spring supporting rod, the upper stabilizing arm and the lower stabilizing arm form a dynamic triangular stabilizing structure. Further improving the load and impact resistance of the hydro-pneumatic spring support rod;
the working principle of the invention is as follows:
The hydro-pneumatic spring mainly bears road surface load in the wheel jumping process, meanwhile, the hydro-pneumatic spring supporting rod can actively stretch to adjust the travel of the wheel to enable the vehicle to span more dangerous terrains, and the upper stabilizing arm 8, the lower stabilizing arm 9 and the hydro-pneumatic spring supporting rod 2 form a dynamic triangular stabilizing structure, so that the vertical shock resistance and the radial shock resistance of the wheel along the axial direction of the hydro-pneumatic spring can be enhanced and conducted to an outer cylinder body of the hydro-pneumatic spring.
When the steering power source is an Ackerman trapezoidal steering table of a traditional vehicle type such as a gear rack, a circulating ball steering and the like, the left and right wheels are in linkage steering, the steering response is fast, and the high-speed stability is good. When steering, the steering push rod pushes the steering knuckle arm to enable the steering knuckle arm to rotate on the steering arm mounting seat, and then the dynamic triangular stabilizing mechanism formed by the upper stabilizing arm, the lower stabilizing arm and the hydro-pneumatic spring supporting rod is driven to rotate, so that the rotation of the hub motor and the wheels is realized, and the steering of the whole vehicle is realized.
When the steering power source is an electric push rod, a hydraulic push rod, a gear or a worm and gear mechanism, single-wheel independent steering can be realized, in-situ steering is realized, and the vehicle mobility is strong. When the steering power source is changed into a gear or a worm gear mechanism, the outer circle of the steering knuckle arm is changed into the gear or the worm gear mechanism according to the diagram shown in fig. 4, and the gear motor or the worm motor is matched for transmitting force. When steering, the gear or worm at the end part of the motor rotates to drive the steering arm to rotate along the axis of the hydro-pneumatic spring support rod, and further drive the dynamic triangular stabilizing mechanism formed by the upper stabilizing arm, the lower stabilizing arm and the hydro-pneumatic spring support rod to rotate, so that the rotation of the hub motor and the wheels is realized, and the steering of the whole vehicle is realized. In the whole process, the steering arm mounting seat 3, the upper end face bearing 4, the lower end face bearing 6 and the fixed cover plate 7 play a role in positioning the steering knuckle arm 5, so that the steering system is light and flexible.
When the wheels are impacted by vertical load, the vertical impact of the road surface is transmitted to the hydro-pneumatic spring support rod 2 through the wheels and the hub motor 11, is uniformly transmitted to the hydro-pneumatic spring outer cylinder body 1 along the axial direction of the rod through hydro-pneumatic pressure in the hydro-pneumatic spring, and is transmitted to a vehicle body through the vehicle body mounting bracket 12 at the outer side of the hydro-pneumatic spring outer cylinder body 1;
When the wheels are impacted by side load, the side impact of the road surface is transmitted to the hydro-pneumatic spring support rod 2 through the wheels and the hub motor 11, then the triangular stable structure formed by the hydro-pneumatic spring support rod 2, the upper stable arm 8 and the lower stable arm 9 is transmitted to the hydro-pneumatic spring outer cylinder body 1, and then the vehicle body is transmitted to a vehicle body through the vehicle body mounting bracket 12;
when the wheel needs to turn, the steering gear pushes the knuckle arm to rotate around the axis of the hydro-pneumatic spring through one end of the knuckle arm 5, and then the upper stabilizing arm 8 and the lower stabilizing arm 9 are driven to be linked, so that the hydro-pneumatic spring supporting rod 2 rotates relative to the hydro-pneumatic spring outer cylinder body 1, and the steering of the wheel is realized. In the whole process, the steering arm mounting seat 3, the end face bearing and the fixed cover plate 7 play a role in positioning the steering knuckle arm 5, so that the steering is light and flexible.
As shown in fig. 11, the upper guide arm is arranged at the upper part or the bottom of the outer cylinder body of the hydro-pneumatic spring, and the upper guide arm is arranged at the bottom of the hydro-pneumatic spring under the condition of the same structural strength and the same function, so that the mass and the length of the guide arm can be reduced by about 50%.
As shown in fig. 12, the left and right hydro-pneumatic springs have little space for temporary arrangement, do not affect the design of the cab and the man-machine engineering, and have strong versatility.
The foregoing is merely illustrative of specific embodiments of the present invention, and the scope of the invention is not limited thereto, but any modifications, equivalents, improvements and alternatives falling within the spirit and principles of the present invention will be apparent to those skilled in the art within the scope of the present invention.
Claims (5)
1. A modular chassis system for wheel large travel adjustment steering, the modular chassis system comprising:
the buffer module is used for supporting the wheel through the hydro-pneumatic spring and carrying out vibration buffer;
The steering module is used for connecting a steering power source with the wheels through the steering arm and driving the wheels to steer;
A steering power source for providing steering power through the steering power assembly;
the hydro-pneumatic spring is provided with a hydro-pneumatic spring outer cylinder body and a hydro-pneumatic spring supporting rod sleeved on the inner side of the hydro-pneumatic spring outer cylinder body, and the lower end of the hydro-pneumatic spring supporting rod is connected with the hub motor;
The steering arm is arranged at the lower end of an outer cylinder body of the hydro-pneumatic spring through a steering arm mounting seat, one end of the steering arm is connected with the lower end of the outer side of a hydro-pneumatic spring supporting rod of the hydro-pneumatic spring through a rotating shaft, the other end of the steering arm is connected with a steering power source through the rotating shaft, and a fixed cover plate matched with the steering arm mounting seat is arranged at the lower end of the steering arm;
the steering arm is in sliding fit with the steering arm mounting seat, and the upper end face bearing and the lower end face bearing are respectively arranged at the upper end and the lower end of the steering arm;
The bottom of the hydro-pneumatic spring outer cylinder body is provided with a plurality of mounting holes, the steering arm mounting seat is provided with a plurality of threaded holes corresponding to the mounting holes, and the steering arm mounting seat is fixedly connected with the hydro-pneumatic spring outer cylinder body through bolts penetrating through the threaded holes;
the steering arm is provided with a steering arm, an upper stabilizing arm and a lower stabilizing arm which are sequentially connected through a pin shaft, the steering arm is sleeved outside a steering arm mounting seat, and the outer end of the lower stabilizing arm is connected with the lower end of the outer side of the hydro-pneumatic spring support rod through a rotating shaft.
2. The modular chassis system for large-stroke adjustment steering of wheels of claim 1, wherein the whole outer structural surface of the hydro-pneumatic spring outer cylinder is provided with a vehicle body mounting bracket, and the vehicle body mounting bracket is mounted and matched according to a vehicle arrangement space.
3. A control method for a modular chassis system for implementing the wheel large-stroke adjustment steering according to any one of claims 1 to 2, characterized in that the control method for the modular chassis system for wheel large-stroke adjustment steering comprises:
When the wheel is impacted by vertical load, the vertical impact of the road surface is transmitted to the hydro-pneumatic spring supporting rod through the wheel and the hub motor, and is uniformly transmitted to the hydro-pneumatic spring outer cylinder body along the axial direction of the hydro-pneumatic spring supporting rod through hydro-pneumatic pressure in the hydro-pneumatic spring, and is transmitted to a vehicle body through a vehicle body mounting bracket at the outer side of the hydro-pneumatic spring outer cylinder body;
When the wheel is impacted by side load, the side impact of the road surface is transmitted to the hydro-pneumatic spring supporting rod through the wheel and the hub motor, then the triangle stable structure formed by the hydro-pneumatic spring supporting rod, the upper stable arm and the lower stable arm is transmitted to the hydro-pneumatic spring outer cylinder body, and then the triangle stable structure is transmitted to the vehicle body through the vehicle body mounting bracket;
And thirdly, when the wheel needs to be turned, the steering gear pushes the knuckle arm to rotate around the axis of the hydro-pneumatic spring through one end of the knuckle arm, and then drives the upper stabilizing arm to be linked with the lower stabilizing arm, so that the hydro-pneumatic spring supporting rod rotates relative to the hydro-pneumatic spring outer cylinder body, and the turning of the wheel is realized.
4. A control method of a modular chassis system for large-stroke adjustment steering of wheels as claimed in claim 3, wherein when the steering power source is an ackermann trapezoidal steering table for rack-and-pinion or recirculating ball steering, the left and right wheels are in linkage steering;
when steering, the steering push rod pushes the steering knuckle arm to enable the steering knuckle arm to rotate on the steering arm mounting seat, and then the dynamic triangular stabilizing mechanism formed by the upper stabilizing arm, the lower stabilizing arm and the hydro-pneumatic spring support rod is driven to rotate, so that the rotation of the hub motor and the wheels is realized, and the steering of the whole vehicle is realized.
5. The control method of a modular chassis system for large-travel steering of wheels according to claim 3, wherein when the steering power source is an electric push rod, a hydraulic push rod, a gear or a worm gear mechanism, single-wheel independent steering can be realized, in-situ steering is realized, the push rod is not influenced by linkage of left and right wheels during steering, and larger-angle steering of the single wheel can be realized, and in-situ steering is further realized.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111479345.6A CN114132131B (en) | 2021-12-06 | 2021-12-06 | A modular chassis system with large wheel travel and steering adjustment and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111479345.6A CN114132131B (en) | 2021-12-06 | 2021-12-06 | A modular chassis system with large wheel travel and steering adjustment and control method thereof |
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| Publication Number | Publication Date |
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| CN114132131A CN114132131A (en) | 2022-03-04 |
| CN114132131B true CN114132131B (en) | 2024-12-24 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102673334A (en) * | 2012-05-21 | 2012-09-19 | 北京市三一重机有限公司 | Independent traveling unit and vehicle |
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| CN101670758B (en) * | 2009-10-22 | 2012-12-05 | 浙江吉利汽车研究院有限公司 | Unilateral suspension frame system |
| DE102013202527A1 (en) * | 2013-02-15 | 2014-08-21 | Bayerische Motoren Werke Aktiengesellschaft | Rear axle of a two-lane vehicle |
| CN208746175U (en) * | 2018-08-08 | 2019-04-16 | 雷沃重工股份有限公司 | Steering assembly and steering mechanism for tricycle |
| CN213889768U (en) * | 2020-12-03 | 2021-08-06 | 徐州徐工矿业机械有限公司 | Double-shear type disassembling tool for front axle steering knuckle of mining dump truck |
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| CN102673334A (en) * | 2012-05-21 | 2012-09-19 | 北京市三一重机有限公司 | Independent traveling unit and vehicle |
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