阅读说明：本技术 一种适用于轮毂电机驱动虚拟轨道列车的半主动悬架系统 (Semi-active suspension system suitable for in-wheel motor driven virtual rail train ) 是由 杨明亮 李阳 胡志锐 丁渭平 朱洪林 王凯 杨勇彬 于 2021-08-16 设计创作，主要内容包括：本发明公开了一种适用于轮毂电机驱动虚拟轨道列车的半主动悬架系统,包括电动轮磁流变悬置减振机构、悬架系统组件和转向执行机构,电动轮磁流变悬置减振机构与电动轮相连,电动轮磁流变悬置减振机构与悬架系统组件相连,悬架系统组件与车架相连,转向执行机构一端与悬架系统组件相连,另一端与车架相连；转向执行机构通过悬架系统组件控制电动轮磁流变悬置减振机构从而使电动轮转向。本发明所提供的一种适用于轮毂电机驱动虚拟轨道列车的半主动悬架系统通过对电动轮内磁流变体悬置的主动控制,实现了对磁流变体悬置的刚度、阻尼的实时调整,实现了轮毂驱动车辆电动轮内主动减振,提高了轮毂驱动车辆的乘坐舒适性及电动轮的使用寿命。(The invention discloses a semi-active suspension system suitable for a wheel hub motor-driven virtual rail train, which comprises an electric wheel magneto-rheological suspension vibration attenuation mechanism, a suspension system component and a steering actuating mechanism, wherein the electric wheel magneto-rheological suspension vibration attenuation mechanism is connected with an electric wheel; the steering actuating mechanism controls the magneto-rheological suspension damping mechanism of the electric wheel through the suspension system component so as to steer the electric wheel. The semi-active suspension system suitable for the virtual rail train driven by the hub motor realizes real-time adjustment of the rigidity and the damping of the magnetorheological fluid suspension through active control of the magnetorheological fluid suspension in the electric wheel, realizes active vibration reduction in the electric wheel of the hub driving vehicle, and improves the riding comfort of the hub driving vehicle and the service life of the electric wheel.)

1. The utility model provides a semi-initiative suspension system suitable for virtual rail train of in-wheel motor drive which characterized in that: the electric wheel magnetorheological suspension vibration damping device comprises an electric wheel magnetorheological suspension vibration damping mechanism (1), a suspension system component (2) and a steering actuating mechanism (3), wherein the electric wheel magnetorheological suspension vibration damping mechanism (1) is connected with an electric wheel, the electric wheel magnetorheological suspension vibration damping mechanism (1) is connected with the suspension system component (2), the suspension system component (2) is connected with a frame, one end of the steering actuating mechanism (3) is connected with the suspension system component (2), and the other end of the steering actuating mechanism (3) is connected with the frame; the steering actuating mechanism (3) controls the magneto-rheological suspension damping mechanism (1) of the electric wheel through the suspension system component (2) so as to steer the electric wheel.

2. The semi-active suspension system for an in-wheel motor driven virtual rail train as claimed in claim 1, wherein: the electric wheel magneto-rheological suspension vibration damping mechanism (1) comprises a motor support shaft (1-1), a sleeve flat key (1-2), a sleeve (1-3), a permanent magnet (1-4), a magneto-rheological elastomer (1-5), a support flat key (1-6), a magneto-rheological suspension support (1-7), a motor stator (1-8) and a motor rotor (1-9), the sleeve (1-3) is sleeved on the motor support shaft (1-1) and connected with the motor support shaft through a sleeve flat key (1-2), the permanent magnet (1-4) is sleeved on the sleeve (1-3), the magnetorheological elastomer (1-5) is sleeved on the permanent magnet (1-4), the magnetorheological suspension bracket (1-7) is sleeved on the magnetorheological elastomer (1-5), and the motor stator (1-8) is sleeved on the magnetorheological suspension bracket (1-7); the support flat key (1-6) is positioned between the magnetorheological suspension support (1-7) and the motor stator (1-8), and the motor rotor (1-9) is sleeved on the outer surface of the motor stator (1-8).

3. The semi-active suspension system for an in-wheel motor driven virtual rail train as claimed in claim 2, wherein: and the motor stators (1-8) are provided with coils.

4. The semi-active suspension system for an in-wheel motor driven virtual rail train as claimed in claim 1, wherein: the suspension system component (2) comprises a main pin component (2-1), a claw component (2-2), a height sensor assembly (2-3), a transverse stabilizer bar (2-4), a lower swing arm (2-5), a transverse stabilizer bar vertical arm (2-6), a solenoid valve type shock absorber (2-7), an upper swing arm (2-8) and an air spring (2-9), wherein the main pin component (2-1) is arranged in the claw component (2-2) in a penetrating manner and connected with an electric wheel, the top of the claw component (2-2) is connected with the air spring (2-9), and the upper end of the air spring (2-9) is connected with a vehicle frame; the upper part of the goat's horn component (2-2) is rotationally connected with the end part of the upper swing arm (2-8), and the other end of the upper swing arm (2-8) is rotationally connected with the frame; the middle part of the horn component (2-2) is rotationally connected with a transverse stabilizer bar vertical arm (2-6), and the other end of the transverse stabilizer bar vertical arm (2-6) is rotationally connected with the end part of the transverse stabilizer bar (2-4); the lower part of the horn component (2-2) is rotationally connected with a lower swing arm (2-5), and the other end of the lower swing arm (2-5) is rotationally connected with the frame; the upper end of the solenoid valve type shock absorber (2-7) is rotationally connected with the frame, and the lower end of the solenoid valve type shock absorber (2-7) is rotationally connected with the claw assembly (2-2); the height sensor assembly (2-3) is connected with the horn assembly (2-2).

5. The semi-active suspension system for an in-wheel motor driven virtual rail train as claimed in claim 4, wherein: the main pin assembly (2-1) comprises a bushing, a pin shaft, a bearing and a gasket, a cleat assembly through hole is formed in the cleat assembly (2-2), the bearing is located in the cleat assembly through hole, and the pin shaft penetrates through the cleat assembly through hole and is fixed through the bushing and the gasket.

6. The semi-active suspension system for an in-wheel motor driven virtual rail train as claimed in claim 5, wherein: the bearing is a thrust cylindrical roller bearing.

7. The semi-active suspension system for an in-wheel motor driven virtual rail train as claimed in claim 1, wherein: the steering actuating mechanism (3) comprises a steering knuckle arm (3-1), a steering tie rod (3-2), a steering power arm (3-3), a steering connecting rod (3-4) and a corner sensor (3-5), the steering knuckle arm (3-1) is connected with an electric wheel, the other end of the steering knuckle arm (3-1) is rotatably connected with the end of a steering tie rod (3-2), the other end of the steering tie rod (3-2) is rotatably connected with a steering power arm (3-3), the steering power arm (3-3) is connected with a frame, the end of a steering connecting rod (3-4) is rotatably connected with the steering power arm (3-3), the other end of the steering connecting rod (3-4) is connected with the frame, and a corner sensor (3-5) is connected with the steering connecting rod (3-4).

Technical Field

The invention belongs to the technical field of rail trains, and particularly relates to a semi-active suspension system suitable for a wheel hub motor driving virtual rail train.

Background

The virtual rail train driven by the hub motor adopts all-wheel hub motor drive (3 carriages with 6 shafts and 12 motors and the marshalling above), a steel rail is not needed to be laid, a virtual guide rail (line patrol) is directly arranged on a urban road, the road surface is not damaged, the whole train is formed by hinging a plurality of carriages, the track following capability is realized, and unmanned driving can be realized. The virtual rail train integrates the advantages of large passenger capacity of an urban rail transit system (especially a tramcar), strong adaptation of a road public transit system, low manufacturing cost and flexible route planning, has the characteristics of short project construction period, small infrastructure investment and flexible scheduling, and is a brand-new solution of the urban public transit system for medium traffic capacity considering both transport capacity and cost. The virtual rail train not only can relieve the urban traffic pressure brought by the increase of the population number of the urban living cities year by year and the improvement of the automobile holding capacity of the first-line large city, but also can be suitable for the public traffic mode with limited economic capacity, small space scale, medium traffic volume and low cost in the development of the second-line and third-line cities.

Adopt all-wheel in-wheel motor drive for the chassis structure obtains simplifying greatly, and power distribution has saved power transmission in each drive wheel, has improved power transmission efficiency, has effectively promoted pure electric train continuation of the journey mileage, leaves more design margins simultaneously and is used for promoting the interior passenger space of car. Meanwhile, as the driving motor is integrated in the driving wheel, the problem that the layout space of the suspension is insufficient, the unsprung mass is increased, the riding comfort and the controllability of the vehicle are reduced, the service life of the motor is shortened and the like is solved, and therefore the suspension system needs to be subjected to targeted matching design and optimization.

Disclosure of Invention

The invention aims to solve the problems and provides a semi-active suspension system which is simple in structure, convenient to operate and low in manufacturing cost and is suitable for a wheel hub motor driven virtual rail train.

In order to solve the technical problems, the technical scheme of the invention is as follows: a semi-active suspension system suitable for a wheel hub motor-driven virtual rail train comprises an electric wheel magneto-rheological suspension vibration damping mechanism, a suspension system assembly and a steering actuating mechanism, wherein the electric wheel magneto-rheological suspension vibration damping mechanism is connected with an electric wheel; the steering actuating mechanism controls the magneto-rheological suspension damping mechanism of the electric wheel through the suspension system component so as to steer the electric wheel.

Preferably, the electric wheel magnetorheological suspension vibration damping mechanism comprises a motor support shaft, a sleeve flat key, a sleeve, a permanent magnet, a magnetorheological elastomer, a support flat key, a magnetorheological suspension support, a motor stator and a motor rotor, wherein the sleeve is sleeved on the motor support shaft and connected through the sleeve flat key; the support flat key is positioned between the magnetorheological suspension support and the motor stator, and the motor rotor is sleeved on the outer surface of the motor stator.

Preferably, the motor stator is provided with a coil.

Preferably, the suspension system component comprises a main pin component, a claw component, a height sensor assembly, a transverse stabilizer bar, a lower swing arm, a transverse stabilizer bar vertical arm, a solenoid valve type shock absorber, an upper swing arm and an air spring, the main pin component is arranged in the claw component in a penetrating mode and connected with the electric wheel, the top of the claw component is connected with the air spring, and the upper end of the air spring is connected with the frame; the upper part of the claw assembly is rotationally connected with the end part of the upper swing arm, and the other end of the upper swing arm is rotationally connected with the frame; the middle part of the horn component is rotationally connected with the transverse stabilizer bar vertical arm, and the other end of the transverse stabilizer bar vertical arm is rotationally connected with the end part of the transverse stabilizer bar; the lower part of the claw component is rotationally connected with the lower swing arm, and the other end of the lower swing arm is rotationally connected with the frame; the upper end of the electromagnetic valve type shock absorber is rotationally connected with the frame, and the lower end of the electromagnetic valve type shock absorber is rotationally connected with the claw assembly; the height sensor assembly is connected with the horn-shaped component.

Preferably, the swizzle subassembly includes bush, round pin axle, bearing and gasket, is equipped with goat's horn subassembly through-hole on the goat's horn subassembly, and the bearing is located goat's horn subassembly through-hole, and the round pin axle is worn to locate in the goat's horn subassembly through-hole and is fixed through bush and gasket.

Preferably, the bearing is a cylindrical roller thrust bearing.

Preferably, the steering actuator comprises a steering knuckle arm, a steering tie rod, a steering power arm, a steering connecting rod and a corner sensor, the steering knuckle arm is connected with the electric wheel, the other end of the steering knuckle arm is rotatably connected with the end of the steering tie rod, the other end of the steering tie rod is rotatably connected with the steering power arm, the steering power arm is connected with the frame, the end of the steering connecting rod is rotatably connected with the steering power arm, the other end of the steering connecting rod is connected with the frame, and the corner sensor is connected with the steering connecting rod.

The invention has the beneficial effects that:

1. the semi-active suspension system suitable for the virtual rail train driven by the hub motor realizes real-time adjustment of the rigidity and the damping of the magnetorheological fluid suspension through active control of the magnetorheological fluid suspension in the electric wheel, realizes active vibration reduction in the electric wheel of the hub driving vehicle, and improves the riding comfort of the hub driving vehicle and the service life of the electric wheel.

2. Through the design of a semi-active suspension system, the adopted solenoid valve type hydraulic shock absorber can realize the real-time change of the damping of the shock absorber according to a vibration signal, the composite excitation from the road surface and the inside of an electric wheel is achieved, and the problem that the riding comfort of a vehicle cannot be effectively improved by a double-cross-arm suspension system designed by a wheel hub driving virtual rail train is solved.

3. By the active control of single-air-bag design and multi-height adjustment of the air springs, the adaptability and the applicability of each scene of the virtual rail train are improved.

4. The design is carried out on the positioning parameters of the suspension system, so that the two-way running indifference and the running stability of the virtual rail train are ensured.

5. Limiting devices are designed in the air spring and the active shock absorber, so that on one hand, the wheel jump stroke required by the vehicle running on the road is ensured, and meanwhile, the impact of wheels and a suspension system on a vehicle body is effectively prevented.

6. The suspension system adopts the matching design and the combined control of the active shock absorber and the air spring, on one hand, the optimal rigidity and damping matching are provided for the suspension system, and simultaneously, the sensing units of the height adjustable system and the damping adjustable system are effectively utilized, so that the semi-active suspension system can exert the optimal effect and the cost control.

Drawings

FIG. 1 is a schematic structural diagram of a semi-active suspension system suitable for a wheel hub motor driven virtual rail train according to the present invention;

FIG. 2 is a schematic structural diagram of an electric wheel magnetorheological suspension damping mechanism according to the present invention;

FIG. 3 is a schematic structural view of the suspension system components of the present invention;

fig. 4 is a schematic structural view of the steering actuator of the present invention.

Description of reference numerals: 1. the electric wheel magnetorheological suspension vibration damping mechanism; 2. a suspension system component; 3. a steering actuator; 1-1, supporting a shaft by a motor; 1-2, sleeve flat key; 1-3, sleeve; 1-4, permanent magnet; 1-5, magnetorheological elastomers; 1-6, a bracket flat key; 1-7, a magnetorheological suspension bracket; 1-8, a motor stator; 1-9, motor rotor; 2-1, a king pin assembly; 2-2, a horn component; 2-3, a height sensor assembly; 2-4, a transverse stabilizer bar; 2-5, a lower swing arm; 2-6, a stabilizer bar drop arm; 2-7, a solenoid valve type shock absorber; 2-8, an upper swing arm; 2-9, air spring; 3-1, a knuckle arm; 3-2, a tie rod; 3-3, a steering power arm; 3-4, a steering connecting rod; 3-5, and a rotation angle sensor.

Detailed Description

The invention is further described with reference to the following figures and specific embodiments:

as shown in fig. 1 to 4, the semi-active suspension system suitable for a wheel hub motor-driven virtual rail train provided by the invention comprises an electric wheel magneto-rheological suspension damping mechanism 1, a suspension system component 2 and a steering execution mechanism 3, wherein the electric wheel magneto-rheological suspension damping mechanism 1 is connected with an electric wheel, the electric wheel magneto-rheological suspension damping mechanism 1 is connected with the suspension system component 2, the suspension system component 2 is connected with a frame, one end of the steering execution mechanism 3 is connected with the suspension system component 2, and the other end of the steering execution mechanism 3 is connected with the frame; the steering actuating mechanism 3 controls the magneto-rheological suspension vibration damping mechanism 1 of the electric wheel through the suspension system component 2 so as to steer the electric wheel.

As shown in fig. 2, the magnetorheological suspension vibration damping mechanism 1 for the electric wheel comprises a motor support shaft 1-1, a sleeve flat key 1-2, a sleeve 1-3, a permanent magnet 1-4, a magnetorheological elastomer 1-5, a support flat key 1-6, a magnetorheological suspension support 1-7, a motor stator 1-8 and a motor rotor 1-9. The sleeve 1-3 is sleeved on the motor support shaft 1-1 and connected through a sleeve flat key 1-2, the permanent magnet 1-4 is sleeved on the sleeve 1-3, the magnetorheological elastomer 1-5 is sleeved on the permanent magnet 1-4, the magnetorheological suspension bracket 1-7 is sleeved on the magnetorheological elastomer 1-5, and the motor stator 1-8 is sleeved on the magnetorheological suspension bracket 1-7. The support flat keys 1-6 are positioned between the magnetorheological suspension supports 1-7 and the motor stators 1-8, and the motor rotors 1-9 are sleeved on the outer surfaces of the motor stators 1-8.

The motor support shaft 1-1 is connected with the sleeve 1-3 through a sleeve flat key 1-2, and the section of the permanent magnet 1-4 is of an annular structure and is sleeved on the sleeve 1-3. The inner surface of the motor stator 1-8 is provided with a motor stator groove, the magnetorheological suspension bracket 1-7 is provided with a magnetorheological suspension bracket groove, and the bracket flat key 1-6 is positioned in the motor stator groove and the magnetorheological suspension bracket groove. In the embodiment, the number of the bracket flat keys 1-6 is four, and the bracket flat keys are symmetrically, uniformly and annularly distributed on the magnetorheological suspension brackets 1-7.

The motor stator 1-8 is provided with a coil, a magnetic field is generated through the electromagnetic induction effect of the coil after the motor stator 1-8 is electrified, the magnetorheological elastomer 1-5 can show a certain magnetic property under the action of the magnetic field, for example, the storage modulus and the shear modulus of the magnetorheological elastomer can be increased along with the increase of the magnetic field, and the coil is annularly distributed on the motor stator 1-8. The motor rotors 1-9 are positioned on the outer surfaces of the motor stators 1-8, and the motor rotors 1-9 are connected with hubs of the electric wheels through bolts.

As shown in FIG. 3, the suspension system component 2 comprises a main pin component 2-1, a claw component 2-2, a height sensor assembly 2-3, a stabilizer bar 2-4, a lower swing arm 2-5, a stabilizer bar vertical arm 2-6, a solenoid valve type shock absorber 2-7, an upper swing arm 2-8 and an air spring 2-9, wherein the main pin component 2-1 is arranged in the claw component 2-2 in a penetrating mode and connected with an electric wheel, the top of the claw component 2-2 is connected with the air spring 2-9 through a bolt, and the upper end of the air spring 2-9 is connected with a vehicle frame through a bolt. The upper part of the goat's horn component 2-2 is rotationally connected with the end part of the upper swing arm 2-8, and the other end of the upper swing arm 2-8 is rotationally connected with the frame. The middle part of the horn component 2-2 is rotationally connected with the transverse stabilizer bar vertical arm 2-6, and the other end of the transverse stabilizer bar vertical arm 2-6 is rotationally connected with the end part of the transverse stabilizer bar 2-4. The lower part of the horn component 2-2 is rotatably connected with the lower swing arm 2-5, and the other end of the lower swing arm 2-5 is rotatably connected with the frame. The upper end of the solenoid valve type shock absorber 2-7 is rotatably connected with the frame through a bolt, and the lower end of the solenoid valve type shock absorber 2-7 is rotatably connected with the claw assembly 2-2. The height sensor assembly 2-3 is connected with the cavel assembly 2-2, and the height sensor assembly 2-3 is the existing mature technology equipment.

The main pin assembly 2-1 comprises a lining, a pin shaft, a bearing and a gasket, the cavel assembly 2-2 is a connecting piece, a cavel assembly through hole and a cavel assembly connecting hole are formed in the cavel assembly 2-2, the bearing is located in the cavel assembly through hole, and the pin shaft penetrates through the cavel assembly through hole and is fixed through the lining and the gasket.

In the embodiment, the bearing is a thrust cylindrical roller bearing, the upper swing arm 2-8 and the lower swing arm 2-5 are installed on the frame through bolts, and the upper swing arm 2-8 and the lower swing arm 2-5 are connected with the claw assembly 2-2 through a connecting shaft. The goat's horn assembly connecting holes comprise goat's horn assembly upper connecting holes, goat's horn assembly middle connecting holes and goat's horn assembly lower connecting holes, upper swing arm holes are arranged on the upper swing arms 2-8, and the connecting shafts sequentially penetrate through the upper swing arm holes and the goat's horn assembly upper connecting holes to rotatably connect the upper swing arms 2-8 and the upper portions of the goat's horn assemblies 2-2. The lower swing arm 2-5 is provided with a lower swing arm hole, and the connecting shaft sequentially penetrates through the lower swing arm hole and the lower connecting hole of the goat's horn component to rotatably connect the lower swing arm 2-5 and the goat's horn component 2-2.

As shown in FIG. 4, the steering actuator 3 includes a knuckle arm 3-1, a tie rod 3-2, a power steering arm 3-3, a tie rod 3-4 and a rotation angle sensor 3-5, the knuckle arm 3-1 is connected to an electric wheel, the other end of the tie rod 3-1 is rotatably connected to the end of the tie rod 3-2, the other end of the tie rod 3-2 is rotatably connected to the power steering arm 3-3, the power steering arm 3-3 is connected to the frame, the end of the tie rod 3-4 is rotatably connected to the power steering arm 3-3, the other end of the tie rod 3-4 is connected to the frame, and the rotation angle sensor 3-5 is connected to the tie rod 3-4.

In this embodiment, the tie rod 3-2 is connected to the knuckle arm 3-1 and the power steering arm 3-3, the power steering arm 3-3 is mounted on the frame by bolts, and two holes are left in the power steering arm 3-3 to connect with the automatic steering cylinder and the manual steering assist mechanism, so that manual steering can be achieved, and the cylinder can be controlled directly to perform automatic steering. A steering connecting rod assembly is connected with the ball head of the steering connecting rod 3-4 through a self-contained bolt matched with the taper hole, and the other side of the steering connecting rod 3-4 is connected with a right steering actuating mechanism, so that the following of the corresponding wheels in the right steering actuating mechanism is realized. And the rotation angle sensor 3-5 is used for measuring the rotation angle of the steering rod 3-4 to reflect the rotation angle of the electric wheel.

When a vehicle runs on a severe road surface, the electric wheel magneto-rheological suspension vibration attenuation mechanism 1 integrated in the electric wheel can actively control the magneto-rheological elastic bodies 1-5 to adjust the damping and rigidity of the magneto-rheological suspension, so that the active inhibition of the excitation from the road surface is realized. At this time, the suspension system component 2 of the vehicle can output corresponding current through vibration signals measured by a sensor and calculated by a semi-active suspension system controller, and the damping coefficient of the solenoid valve type shock absorber 2-7 is modified, so that the suppression of multi-directional vibration excitation from an electric wheel and a road surface is achieved.

When the vehicle needs to adopt different vehicle body postures, pass through a road surface or be in special working conditions such as maintenance and the like, a driver can press a button for adjusting the vehicle body height in a cab, after a system monitors a signal for changing the vehicle body height, a height signal measured by a height sensor assembly 2-3 is fed back to the height of the vehicle body of the driver at the moment, air inflation and deflation are carried out on air springs 2-9 according to corresponding instructions, the rigidity of the air springs is adjusted, and the height of the vehicle body is changed.

The semi-active suspension system of the wheel hub motor driven virtual rail train is formed by the electric wheel magneto-rheological suspension damping mechanism, the suspension system main part and the steering actuating mechanism together. When the vehicle runs on different roads, the magneto-rheological suspension vibration attenuation mechanism in the electric wheel can adjust the damping and rigidity of the magneto-rheological suspension by changing the current, and the solenoid valve type vibration absorber can adjust the damping coefficient in real time through the measured vibration signal to achieve the inhibition of road excitation, so that the system combining the two vibration attenuation devices can effectively improve the riding comfort of drivers and passengers. In the normal running process of the automobile, the automobile suspension can realize the lifting of the height of the automobile body by adjusting the air pressure of the air spring according to the road condition and the automobile condition.

It will be appreciated by those of ordinary skill in the art that the embodiments described herein are intended to assist the reader in understanding the principles of the invention and are to be construed as being without limitation to such specifically recited embodiments and examples. Those skilled in the art can make various other specific changes and combinations based on the teachings of the present invention without departing from the spirit of the invention, and these changes and combinations are within the scope of the invention.