The invention discloses an omni-directional steering wheel-side steering suspension mechanism. A wheel-side steering mechanism and a suspension system which are suitable for a hub motor driving automobile and can achieve omni-directional steering are included. The wheel-side steering mechanism is composed of a steering knuckle, a steering motor, a worm gear and worm set and a rotating angle position sensor. The suspension system comprises an upper transverse arm, a lower transverse arm and a spring shock absorber. The steering knuckle is composed of a steering knuckle shaft and a steering knuckle shell. The outer end of the upper transverse arm is connected with the steering knuckle shell. The lower transverse arm and the steering knuckle shaft are hinged. The steering knuckle shaft is mounted on a hub motor stator shaft through a center hole in the steering knuckle shaft. A worm gear is mounted on the steering knuckle shaft. The steering knuckle shell is mounted on the steering knuckle shaft in a sleeving mode. The steering motor is fixed to the steering knuckle shell. The output end of the steering motor is a worm. The worm gear and the worm are engaged in the steering knuckle shell. During steering, the steering motor drives a worm gear and worm mechanism, the steering knuckle shaft is made to rotate in the steering knuckle shell, and a wheel is made to reach the target rotating angle.

Omni-directional steering wheel-side steering suspension mechanism

The invention discloses a modularized electric automobile wheel assembly for four-wheel independent drive and steering. The wheel assembly comprises a frame, a steering motor, an auxiliary frame, a driving motor, a vertical column, an upper suspension swing arm and a lower suspension swing arm. The steering motor is fixed to the frame; the auxiliary frame is provided with a storage space and rotatably supported on the frame, an output shaft of the steering motor is connected to the auxiliary frame, and the auxiliary frame is capable of rotating around the output shaft; the driving motor is fixed into the storage space and used for driving a wheel to rotate; a hub is rotatably supported on the vertical column which is provided with a through hole, and an output shaft of the driving motor penetrates the through hole to drive the wheel; two ends of the upper suspension swing arm are connected between the upper end of the storage space and the vertical column through rubber pads; two ends of the lower suspension swing arm are connected between the lower end of the storage space and the vertical column through rubber pads. The wheel assembly integrates driving, braking, suspension and steering systems to realize four-wheel independent drive and steering.

Independent drive and steering type modularized automobile wheel assembly and rear wheel steering control method

The invention discloses a suspension system and steering system for a distributed driving and independent steering electric automobile. The suspension system and steering system is fixed to an automobile body through an installation support and comprises wheels, a hub motor, a wheel support, a brake, a steering system body and a double-cross-arm suspension system. The steering system body is installed on the installation support of the automobile body, the wheel support is connected with the output end of the steering system, the double-cross-arm suspension system is installed on the wheel support, and the movement of the double-cross-arm suspension system does not interfere with the movement of the steering system body. By means of the suspension system and steering system, the double-cross-arm suspension system with a lateral stabilizer is integrated while each wheel can have large steering angular capability, so that the grounding state of tires is improved, the attachment limit is increased, friction of the tires is reduced, and the side lurch rigidity of the automobile is increased; thus, the control stability is improved, and the whole system is easy to calibrate.

Suspension system and steering system for distributed driving and independent steering electric automobile

The invention discloses a differential steering system for a hub motor driving electric automobile. A frame of the system is respectively connected with steering knuckles on hub motors in four wheels through lower swinging arms; rotors of the hub motors are fixedly connected with hubs of the wheels; drum brakes are mounted in the hub motors; independent suspensions are respectively arranged in front of and behind the frame; two ends of both upper swinging arms and the lower swinging arms are connected with the steering knuckles of the wheels on the two sides of the frame; a steering rack is arranged in front of the frame; the two ends of the steering rack are connected with the steering knuckles of the wheels on the two sides in front of the frame through steering tie rods; and one side of the steering rack is provided with a return spring of a returnable mechanism. The invention further discloses an electric automobile. According to the invention, the rotation speeds of the wheels can be adjusted to realize that each wheel is kept in a pure rolling state with the ground during running; therefore, friction forces between the wheels and the ground are reduced and the service life of each part of the automobile is prolonged.

Differential steering system for hub motor driving electric automobile and electric automobile

The invention provides an integrated drive-by-wire independent steering system based on a double wishbone suspension. The integrated drive-by-wire independent steering system based on the double wishbone suspension comprises a servo motor assembly, a motor bracket, an upper swinging arm, a lower swinging arm, a spherical hinge, a steering knuckle, a brake disc and a hub bearing assembly, wherein the servo motor is used as a steering power source. The invention is advantaged in that the integration of the suspension and the steering system is realized through combining advantages of the double wishbone independent suspension and the drive-by-wire steering system; a steering linkage system of the traditional steering system is eliminated, interference between the steering linkage system and a suspension guiding linkage system is completely avoided, the steering angle is close to plus or minus 90 degrees through reasonable layout, and zero steering radius in-situ steering is realized in the whole vehicle; as the steering servo motor assembly is placed on a wheel side and a transmission chain for steering motion is short, the steering response is sensitive and the efficiency is high; as the motor and a master pin are integrated, wheel rotation and hop do not interfere with each other and the toe-in interference of the steering transmission chain during the wheel hop is prevented; and the types of key parts are greatly reduced and the mass manufacturing cost is reduced.

Integrated drive-by-wire independent steering system based on double wishbone suspension

The utility model provides a steer-by-wire device capable of independent steering and driving an electric automobile and a suspension system thereof. The steer-by-wire device comprises a steering motor, a cardan joint and a speed reducer which are connected in sequence, wherein the speed reducer is a worm gear reducer with a mechanical self-locking function, a steering main pin is arranged at one end of an output shaft of the speed reducer, and an absolute type encoder is mounted at the other end of the output shaft of the speed reducer. The utility model further provides a suspension system matched with the steer-by-wire device. The steer-by-wire device is simple and compact in structure, position keeping in the driving process of the automobile can be achieved through a mechanical locking method, and complexity of a steering system is lowered. The suspension system matched with the steer-by-wire device can be used for independently controlling steering of wheels to achieve steering of front wheels and rear wheels, pivot steering and horizontal movement in any direction, and the suspension system is suitable for being used in narrow spaces where flexible steering is needed.

Steer-by-wire device capable of independent steering and driving electric automobile and suspension system thereof

The invention relates to an electric automobile chassis system with a four-wheel independent steering function and a steer-by-wire mechanism of the electric automobile chassis system. The steer-by-wire mechanism comprises two steering pull rods, a steering power unit and two transmission units, the steering pull rods are arranged horizontally, the end, close to a wheel, of each steering pull rod is hinged to a steering knuckle of a suspension wheel assembly, and when the plane where wheels are located is perpendicular to the steering pull rods, the two steering pull rods are symmetrical about the vertical radial direction of the wheels; the steering power unit is electrically connected with an electronic control unit of an electric automobile and provided with two levels of power output ends which are the same in speed ratio and opposite in power output direction; the power output ends of the two transmission units are connected with the two levels of power output ends of the steering power unit respectively, and the power output end of each transmission unit is connected with one end, away from the corresponding wheel, of the corresponding steering pull rod to drive the steering pull rod to move back and forth to drive the corresponding wheel to swing. According to the electric automobile chassis system with the four-wheel independent steering function and the steer-by-wire mechanism of the electric automobile chassis system, steering stability of the wheels is good, and the electric automobile chassis system is safe, reliable and good in maneuverability in narrow space.

Electric automobile chassis system with four-wheel independent steering function and steer-by-wire mechanism thereof

A steer-by-wire apparatus independently steering and driving an electric automobile, and a suspension system thereof. The steering apparatus comprises a steering motor (21), a universal joint (22) and a speed reducer (23) connected in sequence. The speed reducer (23) is a worm gear reducer with a mechanical self-locking function. A steering main pin (25) is disposed at one end of an output shaft of the speed reducer (23), and an absolute type coder (24) is mounted at the other end. The steer-by-wire apparatus is simple and compact in structure, position keeping in the driving process of a vehicle can be achieved by using a mechanical locking mode, and the complexity of a steering system is reduced. The suspension system can independently control the steering of wheels to achieve steering of front wheels and rear wheels, pivot steering and horizontal movement in any direction, and is suitable for being used in narrow spaces where flexible steering is needed.

Steer-by-wire apparatus independently steering and driving electric automobile, and suspension system thereof

An electric automobile chassis system with four-wheel independent steering and a steering-by-wire mechanism thereof. The steering-by-wire mechanism comprises two steering pull rods (7), a steering power unit and two transmission units. The steering pull rods (7) are arranged horizontally, the end of each steering pull rod (7) close to a wheel (9) is hinge-connected to a steering knuckle (11) of a suspension wheel assembly, and when the plane where wheels (9) are located is perpendicular to the steering pull rods (7), the two steering pull rods (7) are symmetrical about the vertical radial direction of the wheels (9). The steering power unit is electrically connected to an electronic control unit of an electric automobile, and provided with two levels of power output ends that have the same speed ratio but opposite power output directions. Power input ends of the two transmission units are connected to the two levels of power output ends of the steering power unit respectively, and power output ends of the two transmission units are each connected to the end of the corresponding steering pull rod (7) away from the corresponding wheel (9), to drive the steering pull rod (7) to move back and forth horizontally to propel the wheel (9) to swing. The electric automobile chassis system with four-wheel independent steering and the steering-by-wire mechanism thereof have good steering stability of the wheels, are safe and reliable to use, and have good maneuverability in narrow space.

Guoqing Xu

Papers

Steer-by-wire device capable of independent steering and driving electric automobile and suspension system thereof

Electric automobile chassis system with four-wheel independent steering function and steer-by-wire mechanism thereof

Steer-by-wire apparatus independently steering and driving electric automobile, and suspension system thereof

Electric automobile chassis system with four-wheel independent steering and steering-by-wire mechanism thereof