Steering system and vehicle

Abstract

The invention discloses a steering system and a vehicle, the steering system comprises an auxiliary frame and a steering gear assembly, the steering gear assembly comprises a plurality of steering gears, and the plurality of steering gears are fixed to a cross beam of the auxiliary frame. According to the steering system, the steering gear assembly is fixed to the auxiliary frame, the displacement stroke of the steering gear can be increased, then the maximum turning angle of wheels is increased, the flexibility of the vehicle is improved, the unsprung mass can be prevented from being increased, and the operation stability of the whole vehicle is guaranteed.

Description

Technical Field

[0001] The present invention relates to the field of vehicles, and in particular to a steering system and a vehicle. Background Art

[0002] In the related art, due to the limitation of the connection position of the split rear wheel steering gear, the displacement stroke of the split rear wheel steering gear is usually small, and the split rear wheel steering gear will also increase the unsprung mass, thereby affecting the handling performance of the whole vehicle, and there is room for improvement. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, one object of the present invention is to provide a steering system that can increase the maximum turning angle of the wheel, improve the flexibility of the vehicle, avoid increasing the unsprung mass, and ensure the handling stability of the whole vehicle.

[0004] A steering system according to an embodiment of the present invention comprises: a subframe; a steering gear assembly, wherein the steering gear assembly comprises a plurality of steering gears, and the plurality of steering gears are all fixed to a crossbeam of the subframe.

[0005] According to the steering system of the embodiment of the present invention, by fixing the steering gear assembly on the subframe, the displacement stroke of the steering gear can be increased, thereby increasing the maximum turning angle of the wheel, improving the flexibility of the vehicle, and avoiding increasing the unsprung mass, thereby ensuring the handling stability of the entire vehicle.

[0006] According to the steering system of some embodiments of the present invention, the steering gear is located on the outer side of the cross beam.

[0007] According to the steering system of some embodiments of the present invention, in the front-rear direction of the vehicle, the steering gear is fixed to the front crossbeam of the subframe and is located on the front side of the front crossbeam; or, the steering gear is fixed to the rear crossbeam of the subframe and is located on the rear side of the rear crossbeam.

[0008] According to the steering system of some embodiments of the present invention, a mounting structure is provided on the crossbeam, and the steering gear is connected to the mounting structure.

[0009] According to the steering system of some embodiments of the present invention, in the first direction, the height of the steering device is lower than the height of the cross beam.

[0010] In the steering system according to some embodiments of the present invention, in the first direction, the axis of the steering gear is located below the axis of the crossbeam.

[0011] According to the steering system of some embodiments of the present invention, an avoidance groove is provided on the outer side of the cross beam, and the bottom wall of the avoidance groove is spaced apart from the steering gear.

[0012] According to the steering system of some embodiments of the present invention, at least a portion of the steering gear is disposed in the avoidance groove.

[0013] According to the steering system of some embodiments of the present invention, reinforcing ribs are provided in the avoidance groove.

[0014] According to the steering system of some embodiments of the present invention, there are multiple reinforcing ribs, and the multiple reinforcing ribs extend obliquely along the first direction and are cross-arranged.

[0015] According to the steering system of some embodiments of the present invention, the mounting structure includes a plurality of mounting bosses, and in a first direction, the plurality of mounting bosses are respectively located on both sides of the steering gear.

[0016] According to the steering system of some embodiments of the present invention, the two mounting bosses spaced apart along the first direction are connected via a reinforcing rib.

[0017] According to the steering system of some embodiments of the present invention, at least part of the mounting boss is disposed on a lower edge of the cross beam.

[0018] According to the steering system of some embodiments of the present invention, in the first direction, one mounting boss is provided on the first side of the steering gear, and two mounting bosses are provided on the second side.

[0019] According to some embodiments of the present invention, the steering system further includes a displacement sensor, which is disposed on a first side of the steering gear and is used to detect a movement stroke of the steering gear.

[0020] According to the steering system of some embodiments of the present invention, the plurality of steering gears are respectively a left steering gear and a right steering gear, the left steering gear is suitable for being connected to the wheel power transmission on the left side, and the right steering gear is suitable for being connected to the wheel power transmission on the right side.

[0021] According to the steering system of some embodiments of the present invention, the axes of the left steering gear and the right steering gear are coaxially arranged or arranged at an angle.

[0022] According to the steering system of some embodiments of the present invention, the left steering gear and the right steering gear provided on the same cross beam are symmetrically arranged with respect to the center line of the sub-frame.

[0023] According to the steering system of some embodiments of the present invention, the steering gear includes: a shell, the shell is suitable for being connected to the crossbeam of the subframe; a driving assembly; a moving part and a rotating part, the moving part is arranged on the shell, the moving part is transmission-connected to the rotating part, the driving assembly is suitable for driving the rotating part to move the moving part, and the moving part is suitable for being connected to the wheel through a control arm; a first bearing, the first bearing is arranged between the moving part and the shell; and a second bearing, the second bearing is arranged between the rotating part and the shell.

[0024] According to the steering system of some embodiments of the present invention, at least a portion of the control arm is bent.

[0025] According to the steering system of some embodiments of the present invention, the steering gear further includes a third bearing, the third bearing is arranged between the rotating member and the housing, and in the axial direction of the moving member, the second bearing and the third bearing are spaced apart.

[0026] According to the steering system of some embodiments of the present invention, the driving assembly includes an output end, the output end is connected to the rotating member to drive the rotating member to rotate, and the second bearing and the third bearing are distributed on both sides of the output end.

[0027] According to the steering system of some embodiments of the present invention, in the axial direction of the moving member, the first bearing is located on a side of the second bearing away from the output end.

[0028] According to the steering system of some embodiments of the present invention, the second bearing is an angular contact ball bearing, and in the axial direction of the movable part, a first limit member and a second limit member are respectively provided on both sides of the second bearing, and the first limit member and the second limit member are respectively engaged with the second bearing to limit the movement of the second bearing.

[0029] The steering system according to some embodiments of the present invention further includes: an upper arm and a lower arm, wherein the upper arm and the lower arm are respectively connected between the subframe and the wheel, and in the first direction, the control arm is located between the upper arm and the lower arm.

[0030] According to the steering system of some embodiments of the present invention, the subframe is adapted to be provided with mounting portions for mounting an anti-roll bar on both sides of the crossbeam, and the steering gear is located between the two mounting portions.

[0031] According to the steering system of some embodiments of the present invention, the upper arm and / or the lower arm is located on a side of the mounting portion facing away from the steering gear.

[0032] According to the steering system of some embodiments of the present invention, in the front-rear direction of the vehicle, the upper arm and / or the lower arm is located at the front side of the mounting portion.

[0033] According to the steering system of some embodiments of the present invention, in the front-rear direction of the vehicle, the housing is located between the drive assembly and the cross beam.

[0034] According to the steering system of some embodiments of the present invention, the cross beam has a suspension mounting hole for mounting the suspension, and the steering gear is located below the suspension mounting hole.

[0035] The present invention also provides a vehicle.

[0036] A vehicle according to an embodiment of the present invention comprises a steering system according to any one of the above embodiments.

[0037] The advantages of the vehicle and the steering system compared to the prior art are the same and will not be elaborated here.

[0038] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0040] Figure 1 is a schematic diagram of a vehicle according to an embodiment of the present invention;

[0041] Figure 2 is a schematic diagram of a steering system according to an embodiment of the present invention;

[0042] Figure 3 is a schematic diagram of the installation of a steering gear according to an embodiment of the present invention;

[0043] Figure 4 is a schematic diagram of a diverter according to an embodiment of the present invention;

[0044] Figure 5 is a schematic diagram of an avoidance slot according to an embodiment of the present invention;

[0045] Figure 6 is a cross-sectional view of the installation of a steering gear and a sub-frame according to an embodiment of the present invention;

[0046] Figure 7 is a schematic diagram of a steering device according to another perspective of an embodiment of the present invention;

[0047] Figure 8 is a cross-sectional view of a partial structure of a steering gear according to an embodiment of the present invention;

[0048] Fig. 9 yes Figure 8The enlarged view of point A in the middle;

[0049] Fig.10 is a schematic diagram of a third position-limiting member according to an embodiment of the present invention;

[0050] Fig.11 is a top view of a steering system according to an embodiment of the present invention;

[0051] Fig.12 yes Figure 3 A partial enlarged view of point B in the middle;

[0052] Fig.13 is a schematic diagram of the installation of a brake and a control arm according to an embodiment of the present invention;

[0053] Fig.14 yes Fig.13 Sectional view at CC;

[0054] Fig.15 is a top view of the installation of an air spring according to an embodiment of the present invention;

[0055] Fig.16 is a rear view of an air spring according to an embodiment of the present invention;

[0056] Fig.17 is a schematic diagram of a domain controller according to an embodiment of the present invention;

[0057] Fig.18 The process of the vehicle control method according to the embodiment of the present invention is as follows: Figure 1 ;

[0058] Fig.19 The process of the vehicle control method according to the embodiment of the present invention is as follows: Figure 2 ;

[0059] Fig. 20 The process of the vehicle control method according to the embodiment of the present invention is as follows: Figure 3 .

[0060] Reference numerals:

[0061] Vehicle 1000,

[0062] Steering system 100, wheel 200, first direction L1,

[0063] Subframe 1, crossbeam 10, front crossbeam 11, rear crossbeam 12, avoidance groove 13, reinforcing rib 14, mounting structure 15, mounting boss 151, suspension mounting hole 16, mounting portion 17,

[0064] Steering gear assembly 2, steering gear 20, left steering gear 201, right steering gear 202,

[0065] Shell 21, main body 211, cover 212, second limiting member 213, fixing ear 214, fixing hole 2141, displacement sensor 215, second limiting groove 216,

[0066] Moving member 22, third limiting member 221, sensing member 222,

[0067] Rotating member 23, first limiting member 231, first limiting groove 232, first bearing 24,

[0068] The second bearing 25 has an outer ring 251, an inner ring 252, and a matching ball 253.

[0069] The third bearing 26, the driving assembly 27, the driving motor 271, the synchronous belt 272, the second pulley 273,

[0070] yoke 28, adjustment hole 281, limiting groove 282, first side wall 282a, second side wall 282b, dust cover 29, clamp 291,

[0071] Brake assembly 3, brake 30, left brake 301, right brake 302, mounting plate 31, mounting hole 311, bushing 32, limiting inclined surface 321,

[0072] Control arm 4, first end 4a, second end 4b, ball stud 41, threaded section 411, protective sleeve 42,

[0073] Connecting arm 5, upper arm 51, lower arm 52, traction arm 53, guide arm 54,

[0074] Connecting bolt 6, adjusting washer 7, fixing nut 81, fastener 82, air spring 9,

[0075] Domain controller 101, left controller 102, right controller 103. DETAILED DESCRIPTION

[0076] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0077] Hereinafter, a steering system 100 according to an embodiment of the present invention will be described with reference to the accompanying drawings.

[0078] like Figure 1-Figure 20 As shown, the steering system 100 according to the embodiment of the present invention comprises: a sub-frame 1 and a steering gear assembly 2 , wherein the steering gear assembly 2 comprises a plurality of steering gears 20 , and the plurality of steering gears 20 are all fixed to a cross beam 10 of the sub-frame 1 .

[0079] In this way, the displacement stroke of the steering gear 20 can be increased, thereby increasing the maximum turning angle of the wheel 200, improving the flexibility of the vehicle 1000, and avoiding increasing the unsprung mass, thereby ensuring the handling stability of the entire vehicle.

[0080] First, if Figure 1-Figure 3 As shown, the vehicle 1000 includes a subframe 1 and a steering gear assembly 2 . The steering gear assembly 2 includes a plurality of steering gears 20 . The plurality of steering gears 20 are relatively independent and are all fixed to a crossbeam 10 of the subframe 1 .

[0081] For example, the plurality of steering gears 20 may be a left steering gear 201 and a right steering gear 202, which are independently arranged. The left steering gear 201 is located on the left side of the sub-frame 1 and is suitable for being connected to the wheel 200 on the left side by transmission, so that the left steering gear 201 can control the steering of the wheel 200 on the left side; the right steering gear 202 is located on the right side of the sub-frame 1 and is suitable for being connected to the wheel 200 on the right side by transmission, so that the right steering gear 202 can control the steering of the wheel 200 on the right side. In this way, the wheels 200 can be independently controlled, which is conducive to improving the handling performance of the vehicle 1000.

[0082] It is understandable that by fixing the steering gear assembly 2 on the crossbeam 10 of the subframe 1, the vehicle 1000 is not constrained by the distance between the steering knuckle and the mounting point on the subframe 1, so that the displacement stroke of the steering gear 20 is larger, the maximum turning angle of the wheel 200 is increased (can reach 5°-10°), the flexibility of the vehicle 1000 is improved, and the unsprung mass of the suspension is not increased, thereby ensuring the handling stability of the whole vehicle. In addition, by setting multiple steering gears 20 to remain independent, the toe angle of the wheel 200 can be adjusted during emergency braking to improve the stability during braking.

[0083] According to the steering system 100 of the embodiment of the present invention, by fixing the steering gear assembly 2 on the subframe 1, the displacement stroke of the steering gear 20 can be increased, thereby increasing the maximum turning angle of the wheel 200, improving the flexibility of the vehicle 1000, and avoiding increasing the unsprung mass, thereby ensuring the handling stability of the entire vehicle.

[0084] In some embodiments of the present invention, Figure 2 As shown, the steering gear 20 can be arranged on the outside of the cross beam 10. It should be noted that the subframe 1 includes two cross beams 10, the two cross beams 10 are arranged opposite to each other, and the steering gear 20 can be connected to any one of the two cross beams 10, and the outside here refers to the side of the cross beam 10 connected to the steering gear 20 away from the other cross beam 10.

[0085] Through the above arrangement, the difficulty of installing the steering gear 20 can be reduced, and the steering gear 20 can be prevented from affecting the vertical dimension of the steering system 100 , thereby facilitating the layout of the steering system 100 .

[0086] In some embodiments of the present invention, in the front-rear direction of the vehicle 1000, a front cross beam 11 is provided on the front side of the subframe 1, and the steering gear 20 is fixed on the front cross beam 11 of the subframe 1 and is located on the front side of the front cross beam 11. Thus, the difficulty of installing the steering gear 20 can be reduced, and the difficulty of connecting the steering gear 20 with related components (such as the brake 30 described below) can be reduced, and the design rationality of the steering system 100 is improved.

[0087] In other embodiments of the present invention, Figure 2 As shown, in the front-rear direction of the vehicle 1000, a rear cross beam 12 is provided at the rear side of the subframe 1, and the steering gear 20 is fixed on the rear cross beam 12 of the subframe 1 and is located at the rear side of the rear cross beam 12. Thus, the difficulty of installing the steering gear 20 can be reduced, and the difficulty of connecting the steering gear 20 with related components (such as the brake 30 described below) can be reduced, and the design rationality of the steering system 100 is improved.

[0088] In some embodiments of the present invention, a mounting structure 15 is provided on the cross beam 10, and the steering gear 20 is connected to the mounting structure 15. Thus, a stable installation of the rear cross beam 12 can be achieved, and the reliability of the steering system 100 is improved.

[0089] For example, refer to Figure 2 and Figure 4 As shown, a mounting structure 15 can be provided on the rear side of the rear cross beam 12, the mounting structure 15 includes a plurality of mounting bosses 151, and a plurality of fixing ears 214 are provided on the steering gear 20, the plurality of fixing ears 214 are arranged at intervals and are respectively supported on the plurality of mounting bosses 151, a fixing hole 2141 is provided on the fixing ear 214, and a fastener is suitable for passing through the fixing hole 2141 and being connected to the mounting boss 151, so as to fix the steering gear 20 on the rear cross beam 12.

[0090] In some embodiments of the present invention, Figure 2 As shown, in the first direction L1, the height of the diverter 20 is lower than the height of the crossbeam 10. It should be noted that the first direction L1 is Figure 2 Through the above arrangement, the steering gear 20 can avoid adverse effects on the arrangement of the cross beam 10, save installation space, and improve the design rationality of the steering system 100.

[0091] In some embodiments of the present invention, Figure 2 As shown, in the first direction L1, the axis of the steering gear 20 is located below the axis of the crossbeam 10. It should be noted that the first direction L1 is Figure 2 Thus, the steering gear 20 can be arranged at a position below the cross beam 10 to better utilize the space of the cross beam 10, and the center of gravity of the steering system 100 can be lowered, thereby improving the design rationality of the steering system 100.

[0092] In some embodiments of the present invention, Figure 2 , Figure 5 and Figure 6 As shown, an avoidance groove 13 is provided on the outer side of the cross beam 10, the avoidance groove 13 is opposite to the steering gear 20, and the bottom wall of the avoidance groove 13 is spaced apart from the steering gear 20, so that the cross beam 10 can avoid the steering gear 20 to a certain extent through the avoidance groove 13. In this way, the installation difficulty of the steering gear 20 can be reduced and the installation stability of the steering gear 20 can be improved.

[0093] In some embodiments of the present invention, at least part of the diverter 20 may be disposed in the avoidance groove 13. Thus, the space in the avoidance groove 13 may be fully utilized, which is beneficial to reducing the space occupied by the diverter 20 and improving the level of integration.

[0094] In some embodiments of the present invention, Figure 5-Figure 6 As shown, a reinforcing rib 14 may be provided in the avoidance groove 13. Thus, the weak part of the cross beam 10 may be reinforced to improve the structural strength of the cross beam 10, thereby improving the overall stability of the steering system 100.

[0095] In some embodiments of the present invention, Figure 5-Figure 6 As shown, the reinforcing ribs 14 may be multiple, and the multiple reinforcing ribs 14 extend obliquely along the first direction L1 and are cross-arranged. It should be noted that the first direction L1 is Figure 2 Up and down directions shown.

[0096] For example, two reinforcing ribs 14 can be provided, one reinforcing rib 14 is arranged upward and tilted to the left, and the other reinforcing rib 14 is arranged upward and to the right, so that the two reinforcing ribs 14 can be arranged crosswise. In this way, the supporting effect of the reinforcing ribs 14 can be improved, and the structural strength of the crossbeam 10 can be effectively improved.

[0097] In some embodiments of the present invention, the mounting structure 15 includes a plurality of mounting bosses 151. In the first direction L1, the plurality of mounting bosses 151 are respectively located on both sides of the steering gear 20, and fixing ears 214 are respectively provided on both sides of the steering gear 20. The fixing ears 214 are supported on the mounting bosses 151 to be connected to the crossbeam 10.

[0098] Through the above arrangement, the steering gear 20 can be fixed from both sides of the first direction L1, which is beneficial to improving the installation stability of the steering gear 20.

[0099] In some embodiments of the present invention, two mounting bosses 151 spaced apart along the first direction L1 are connected by reinforcing ribs 14. Specifically, Figure 7 As shown, two mounting bosses 151 may be arranged spaced apart in the left-right direction and the up-down direction, and a reinforcing rib 14 extending obliquely in the up-down direction may be connected between the two mounting bosses 151. Thus, the structural stability of the mounting bosses 151 may be improved, thereby improving the installation stability of the steering gear 20.

[0100] In some embodiments of the present invention, Figure 7 As shown, at least part of the mounting boss 151 can be arranged on the lower edge of the cross beam 10. Specifically, the mounting boss located at the lower side of the steering gear 20 can be arranged on the lower edge of the cross beam 10. Through the above arrangement, the positioning difficulty of the mounting boss 151 can be reduced, which is conducive to reducing the processing difficulty of the cross beam 10, and the space of the cross beam 10 can be utilized to the maximum extent, thereby improving the design rationality of the steering system 100.

[0101] In some embodiments of the present invention, in the first direction L1, a first side of the diverter 20 is provided with a mounting boss 151, and a second side is provided with two spaced mounting bosses 151. For example, the first side can be set as the upper side of the diverter 20, and the second side can be set as the lower side of the diverter 20.

[0102] Through the above arrangement, the three mounting bosses 151 can be arranged in a triangle, which is beneficial to improving the installation stability of the steering gear 20, and can reduce the required number of fixing ears 214, which is beneficial to reducing the processing difficulty of the steering gear 20, making the steering gear 20 easier to install and improving the design rationality of the steering gear 20.

[0103] In some embodiments of the present invention, the steering system 100 of the embodiment of the present invention further includes a displacement sensor 215, which is used to detect the movement stroke of the steering gear 20 to obtain the rotation amplitude of the wheel 200. The displacement sensor 215 can be arranged on the first side of the steering gear 20. In this way, the space on the first side of the steering gear 20 can be fully utilized, which is conducive to improving the integration of the steering system 100 and reducing the overall size of the steering system 100.

[0104] In some embodiments of the present invention, Figure 2-Figure 3 As shown, the axes of the left steering gear 201 and the right steering gear 202 are coaxially arranged or arranged at an angle.

[0105] Exemplarily, the left steering gear 201 and the right steering gear 202 can be arranged to extend in the left-right direction, so that the axis of the left steering gear 201 and the axis of the right steering gear 202 are arranged coaxially; or, the axis of the left steering gear 201 can be arranged to extend to the left and rearward, and the axis of the right steering gear 202 can be arranged to extend to the right and rearward, so that the axis of the left steering gear 201 and the axis of the right steering gear 202 are arranged at an angle; or, the axis of the left steering gear 201 can be arranged to extend to the left and forward, and the axis of the right steering gear 202 can be arranged to extend to the right and forward, so that the axis of the left steering gear 201 and the axis of the right steering gear 202 are arranged at an angle. In this way, the steering gear 20 can be flexibly arranged to meet different working conditions.

[0106] In some embodiments of the present invention, Figure 2 As shown, the left steering gear 201 and the right steering gear 202 arranged on the same cross beam 10 are symmetrically arranged about the center line of the sub-frame 1, where the center line is the center line of the sub-frame 1 in the left-right direction.

[0107] Through the above arrangement, the difficulty of positioning and installing the left steering gear 201 and the right steering gear 202 can be reduced, and the angle of the wheel 200 can be more easily determined and adjusted, which is beneficial to improving the practicality of the steering system 100.

[0108] In some embodiments of the present invention, the steering system 100 according to the embodiment of the present invention further includes: a brake assembly 3, the brake assembly 3 includes a plurality of brakes 30, the plurality of brakes 30 are respectively a left brake 301 and a right brake 302, the left brake 301 is installed on the wheel 200 located on the left side, and the right brake 302 is installed on the wheel 200 located on the right side, and the left brake 301 and the left steering gear 201, as well as the right steering gear 202 and the right brake 302 are connected via a control arm 4.

[0109] For example, refer to Figure 2-Figure 3 As shown, the steering system 100 further includes a brake assembly 3, which includes a plurality of brakes 30, and the plurality of brakes 30 are respectively a left brake 301 and a right brake 302, wherein the left brake 301 is mounted on the wheel 200 located on the left side, and the right brake 302 is mounted on the wheel 200 located on the right side. The left brake 301 is arranged opposite to the left steering gear 201 and connected via a control arm 44, so that the left steering gear 201 can drive the left brake 301 to move via the control arm 44, thereby controlling the steering of the wheel 200 located on the left side; the right brake 302 is arranged opposite to the right steering gear 202 and connected via a control arm 44, so that the right steering gear 202 can drive the right brake 302 to move via the control arm 44, thereby controlling the steering of the wheel 200 located on the right side. In this way, the maximum turning angle of the wheel 200 can be increased, thereby improving the flexibility of the vehicle 1000.

[0110] In some embodiments of the present invention, Figure 7-Figure 9 As shown, the steering gear 20 includes: a housing 21, a moving member 22, a rotating member 23 and a driving assembly 27. The housing 21 is suitable for connecting with the cross beam 10 of the subframe 1 to fix the steering gear 20 on the cross beam 10. A receiving cavity is provided in the housing 21, and the moving member 22 and the rotating member 23 are both arranged in the receiving cavity of the housing 21. The moving member 22 is transmission-connected with the rotating member 23, and the driving assembly 27 is suitable for driving the rotating member 23 to drive the moving member 22 to move. One end of the moving member 22 extends out of the housing 21 and is connected with the wheel 200 through the control arm 4, so that the driving assembly 27 can drive the control arm 4 to move to drive the wheel 200 to deflect.

[0111] In the specific working process, when the wheel 200 needs to be deflected, the driving assembly 27 drives the rotating member 23 to rotate, and the rotating member 23 can drive the moving member 22 to move, so that the moving member 22 can drive the control arm 4 to move, and then the brake 30 can drive the wheel 200 to deflect.

[0112] Among them, the steering gear 20 also includes: a first bearing 24 and a second bearing 25. The first bearing 24 is arranged between the moving part 22 and the shell 21. The shell 21 supports the moving part 22 through the first bearing 24 to reduce the friction between the moving part 22 and the shell 21, extend the service life of the moving part 22 and the shell 21, and ensure the coaxiality of the moving part 22 during the movement process, thereby improving the stability of the movement of the moving part 22; the second bearing 25 is arranged between the rotating part 23 and the shell 21. The shell 21 supports the rotating part 23 through the second bearing 25 so that the rotating part 23 can rotate relative to the shell 21, and the second bearing 25 can also withstand radial loads, thereby improving the stability and smoothness of the rotating part 23 during rotation.

[0113] Through the above arrangement, the stability of the overall structure of the steering gear 20 can be improved, so that the overall force on the moving part 22 is more balanced, the risk of the moving part 22 breaking is reduced, and the reliability of the steering system 100 is improved.

[0114] In some embodiments of the present invention, Figure 7-Figure 9 As shown, the steering gear 20 further includes a third bearing 26, which is disposed between the rotating member 23 and the housing 21, and the second bearing 25 and the third bearing 26 are spaced apart in the axial direction of the moving member 22. Through the above arrangement, the second bearing 25 and the third bearing 26 can jointly support the rotating member 23 from different positions, which can improve the running stability of the rotating member 23, thereby improving the reliability of the steering gear 20.

[0115] In some embodiments of the present invention, Figure 7-Figure 9As shown, the driving assembly 27 includes an output end, which is connected to the rotating member 23 to drive the rotating member 23 to rotate, and the second bearing 25 and the third bearing 26 are distributed on both sides of the output end. Through the above arrangement, the overall force of the rotating member 23 can be more balanced, the local stress can be reduced, and the stability of the rotating member 23 can be further improved.

[0116] In some embodiments of the present invention, Figure 7-Figure 9 As shown, the driving assembly 27 includes a driving motor 271, the output shaft of the driving motor 271 is provided with a first pulley, the rotating member 23 is provided with a second pulley 273, the first pulley and the second pulley 273 are connected by a synchronous belt 272, and in the embodiment of the present invention, the second pulley 273 forms the output end of the driving assembly 27. In the embodiment of the present invention, the driving assembly 27 has a simple structure, which reduces the cost of the steering gear 20.

[0117] In other embodiments, the drive assembly 27 includes a drive motor 271, the output shaft of the drive motor 271 is provided with a first gear, the rotating member 23 is provided with a second gear, and the first gear meshes with the second gear. In the embodiment of the present invention, the second gear forms the output end of the drive assembly 27.

[0118] In other embodiments, the driving assembly 27 may be a driving motor 271 that drives the rotating member 23 to rotate via a worm gear, a connecting rod assembly, etc. As long as the driving assembly 27 can drive the rotating member 23 to rotate, the present invention is not limited to this.

[0119] In some embodiments of the present invention, Figure 7-Figure 9 As shown, in the axial direction of the moving member 22 , the first bearing 24 is located on a side of the second bearing 25 away from the output end.

[0120] Through the above-mentioned arrangement, the first bearing 24, the second bearing 25 and the third bearing 26 can be distributed in sequence along the axial direction of the movable part 22, so that the first bearing 24, the second bearing 25 and the third bearing 26 jointly support the movable part 22 and the rotating part 23, thereby effectively improving the stability of the internal structure of the steering gear 20, further reducing the risk of breakage of the movable part 22, and ensuring the working reliability of the steering gear 20.

[0121] In some embodiments of the present invention, Figure 7-Figure 9 As shown, in the axial direction of the moving member 22, the first stopper 231 and the second stopper 213 are respectively provided on both sides of the second bearing 25, and the first stopper 231 and the second stopper 213 are used to respectively abut against the two side walls of the second bearing 25 to limit the axial movement of the second bearing 25. Thus, the installation stability of the second bearing 25 can be improved, and the supporting effect of the second bearing 25 on the rotating member 23 can be ensured.

[0122] In some embodiments of the present invention, Figure 7-Figure 9 As shown, the second bearing 25 includes an outer ring 251, an inner ring 252 and a mating ball 253, the mating ball 253 is arranged between the inner ring 252 and the outer ring 251, the second limit member 213 is installed on the housing 21, the outer ring 251 and the second limit member 213 are limited and matched to limit the movement of the outer ring 251 relative to the housing 21, the first limit member 231 is installed on the rotating member 23, and the inner ring 252 and the first limit member 231 are limited and matched to limit the movement of the inner ring 252 relative to the rotating member 23.

[0123] In the above technical solution, the outer ring 251 and the housing 21 are limited in cooperation to limit the movement of the second bearing 25 relative to the housing 21, and the second bearing 25 and the rotating member 23 are limited in cooperation to limit the movement of the inner ring 252 relative to the rotating member 23, that is, the movement of the rotating member 23 relative to the housing 21 is limited, the stability of the rotation of the rotating member 23 is ensured, and the reliability of the steering gear 20 is ensured.

[0124] In some specific embodiments, Fig. 9 As shown, a first limiting member 231 is disposed on the rotating member 23 , and the first limiting member 231 abuts against the inner ring 252 to limit the movement of the inner ring 252 .

[0125] In the embodiment of the present invention, the first limiting member 231 and the inner ring 252 are abutted against each other to limit the movement of the inner ring 252 , thereby ensuring the reliability of the connection between the second bearing 25 and the rotating member 23 .

[0126] In some embodiments, the rotating member 23 is provided with a first limiting groove 232, and the two sides of the inner ring 252 are respectively stopped against the inner wall of the first limiting groove 232 and the first limiting member 231, which completely limits the movement of the inner ring 252, further reduces the possibility of the inner ring 252 moving, and ensures the reliability of the rotation of the rotating member 23. In addition, in the embodiment of the present invention, by limiting the movement of one side of the inner ring 252 in the manner of providing the first limiting groove 232 in the rotating member 23, the cost of the steering gear 20 is reduced, and the assembly method of the inner ring 252 and the steering gear 20 in this manner is simple, which improves the assembly efficiency of the steering gear 20.

[0127] It should be understood that in other embodiments, two first limit members 231 may be provided on the rotating member 23, the inner ring 252 is provided between the two first limit members 231, and the two sides of the inner ring 252 are respectively abutted against the two first limit members 231 to limit the movement of the inner ring 252.

[0128] In some specific embodiments, the first stopper 231 is threadedly connected to the rotating member 23, and this connection mode has high reliability and is easy to assemble, thereby improving the assembly efficiency of the steering gear 20. It should be noted that, in other embodiments, the first stopper 231 and the rotating member 23 may also be connected by interference fit, welding, clamping, etc., and the present invention is not limited thereto.

[0129] In some embodiments, Fig. 9 As shown, the housing 21 is provided with a second limiting member 213 , and the second limiting member 213 abuts against the outer ring 251 to limit the movement of the outer ring 251 .

[0130] In the embodiment of the present invention, the second limiting member 213 abuts against the outer ring 251 to limit the movement of the outer ring 251 , thereby ensuring the reliability of the connection between the second bearing 25 and the housing 21 .

[0131] In some embodiments of the present invention, a second limiting groove 216 is provided on the housing 21, and the two sides of the outer ring 251 are respectively stopped against the inner wall of the second limiting groove 216 and the second limiting member 213, which completely limits the movement of the outer ring 251, further reduces the possibility of movement of the outer ring 251, and ensures the reliability of the rotation of the housing 21. In addition, in the embodiment of the present invention, by limiting the movement of one side of the outer ring 251 in the manner of providing the second limiting groove 216 in the housing 21, the cost of the steering gear 20 is reduced, and the assembly method of the outer ring 251 and the steering gear 20 in this manner is simple, which improves the assembly efficiency of the steering gear 20.

[0132] It should be understood that in other embodiments, two second limit members 213 may be provided on the shell 21 , the outer ring 251 is provided between the two second limit members 213 , and the two sides of the outer ring 251 are respectively abutted against the two second limit members 213 to limit the movement of the outer ring 251 .

[0133] In some specific embodiments, the second stopper 213 is threadedly connected to the housing 21, and this connection mode has high reliability and is easy to assemble, thereby improving the assembly efficiency of the steering gear 20. It should be noted that, in other embodiments, the second stopper 213 and the housing 21 may also be connected by interference fit, welding, clamping, etc., and the present invention is not limited thereto.

[0134] In some embodiments, Figure 7-Figure 9 As shown, the first bearing 24 is designed as a sliding bearing, the second bearing 25 is designed as an angular contact ball bearing, and the third bearing 26 is designed as a needle roller bearing.

[0135] In some embodiments, Figure 7-Figure 9As shown, the housing 21 includes a main body 211 and a cover 212 . An installation opening is provided at one end of the main body 211 . The cover 212 closes the installation opening. The second bearing 25 is provided on the main body 211 , and the third bearing 26 is provided on the cover 212 .

[0136] In some embodiments of the present invention, a accommodating cavity is defined between the main body 211 and the cover body 212. When assembling the steering gear 20, the moving part 22 and the rotating part 23 are first placed in the main body 211 through the installation opening, and finally the installation opening is closed by the cover body 212 to enclose the rotating part 23 and the moving part 22 in the shell 21 to prevent external objects from affecting the transmission between the rotating part 23 and the moving part 22, thereby ensuring the reliability of the steering gear 20.

[0137] In some embodiments, Figure 7-Figure 9 As shown, the moving member 22 is configured as a screw rod, the rotating member 23 is configured as a nut, and the nut is sleeved on the screw rod. It should be understood that in some other embodiments, the moving member 22 can also be configured as a nut, the rotating member 23 can be configured as a screw rod, and the nut is sleeved on the screw rod. As long as the rotating member 23 can drive the moving member 22 to move when it rotates.

[0138] In some embodiments, Figure 7-Figure 10 As shown, the moving member 22 is provided with a third limiting member 221 , and the third limiting member 221 is slidably matched with the housing 21 to limit the circumferential movement of the moving member 22 .

[0139] Because the rotating member 23 and the moving member 22 are threadedly matched, only when the moving member 22 cannot rotate, the rotating member 23 can drive the moving member 22 to move. The third limiter 221 slides with the housing 21 to limit the circumferential movement of the moving member 22 and improve the stability of the movement of the moving member 22.

[0140] In some embodiments, the housing 21 is provided with a guide structure extending along the axial direction of the moving member 22 , one end of the third limiting member 221 is fixedly connected to the moving member 22 , and the other end of the third limiting member 221 cooperates with the guide structure.

[0141] Through the above technical solution, the moving member 22 is slidably connected to the shell 21 through the third limit member 221, which reduces the contact area between the moving member 22 and the shell 21, reduces the friction during the movement of the moving member 22, and improves the smoothness of the movement of the moving member 22.

[0142] In some embodiments, the steering gear 20 further includes a displacement sensor 215 , and the third limiting member 221 is provided with a sensing member 222 . The displacement sensor 215 and the sensing member 222 cooperate electromagnetically to detect the displacement of the moving member 22 .

[0143] The displacement sensor 215 in the embodiment of the present invention is suitable for communicating with a control element (such as the left controller 102 and the right controller 103 described below) so that the control element can detect the position of the moving part 22, thereby facilitating the vehicle 1000 to accurately control the deflection of the wheel 200 and improve the flexibility and safety of the vehicle 1000.

[0144] In some embodiments, Figure 7-Figure 9 As shown, the steering gear 20 further includes a retractable dust cover 29, which is covered on the portion of the moving member 22 located outside the housing 21, and the two ends of the dust cover 29 are respectively fixed to the yoke 28 and the housing 21. The dust cover 29 covers the portion of the moving member 22 located outside the housing 21, thereby preventing external dust from entering between the moving member 22 and the housing 21 to affect the movement of the moving member 22, thereby ensuring the reliability of the steering gear 20.

[0145] In some specific embodiments, Fig. 9 As shown, both ends of the dust cover 29 are fixed to the yoke 28 and the housing 21 respectively through clamps 291 . This connection method is simple and improves the assembly efficiency of the steering gear 20 .

[0146] In some embodiments of the present invention, Figure 2 and Fig.11 As shown, the left brake 31 and the right brake 32 can be respectively connected to the sub-frame 1 through the connecting arm 5. Specifically, the connecting arm 5 can include an upper arm 51, a lower arm 52, a traction arm 53 and a guide arm 54, and the left brake 31 and the sub-frame 1 can be connected through the control arm 4, the upper arm 51, the lower arm 52, the traction arm 53 and the guide arm 54, and the right brake 32 and the sub-frame 1 can be connected through the control arm 4, the upper arm 51, the lower arm 52, the traction arm 53 and the guide arm 54.

[0147] Through the above arrangement, the steering system 100 can be formed into a five-link structure, which is beneficial to improving the installation stability of the left brake 31 and the right brake 32 .

[0148] In some embodiments of the present invention, the end of the moving member 22 extending out of the housing 21 is provided with a yoke 28, and the first end 4a of the control arm 4 is connected to the yoke 28 and the relative position is adjustable. Figure 3As shown, the two ends of the control arm 4 along the length direction can be set as the first end 4a and the second end 4b respectively. Among them, the first end 4a of the control arm 4 located on the left side is connected to the yoke 28 of the left steering gear 201 and the second end 4b is connected to the left brake 31, and the position between the first end 4a of the control arm 4 located on the left side and the left steering gear 201 can be set to be adjustable, so that the relative position between the left steering gear 201 and the left brake 31 can be adjusted; the first end 4a of the control arm 4 located on the right side can be connected to the yoke 28 of the right steering gear 202 and the second end 4b is connected to the right brake 32, and the position between the first end 4a of the control arm 4 located on the right side and the right steering gear 202 can be set to be adjustable, so that the relative position between the right steering gear 202 and the right brake 32 can be adjusted.

[0149] Through the above arrangement, the position of the wheel 200 can be easily adjusted, the difficulty of four-wheel alignment is reduced, and the design rationality of the vehicle 1000 is improved.

[0150] In some embodiments, Figure 7-Figure 9 As shown, the steering gear 20 further includes a retractable dust cover 29, which is covered on the portion of the moving member 22 located outside the housing 21, and the two ends of the dust cover 29 are respectively fixed to the yoke 28 and the housing 21. The dust cover 29 covers the portion of the moving member 22 located outside the housing 21, thereby preventing external dust from entering between the moving member 22 and the housing 21 to affect the movement of the moving member 22, thereby ensuring the reliability of the steering gear 20.

[0151] In some specific embodiments, Fig. 9 As shown, both ends of the dust cover 29 are fixed to the yoke 28 and the housing 21 respectively through clamps 291 . This connection method is simple and improves the assembly efficiency of the steering gear 20 .

[0152] In some embodiments of the present invention, the yoke 28 of the steering gear 20 is provided with an elongated adjustment hole 281 , and the control arm 4 is provided with an eccentrically arranged connecting bolt 6 , and the position of the connecting bolt 6 is adjustable to cooperate with the adjusting hole 281 .

[0153] For example, refer to Figure 3-Figure 4 As shown, the steering gear 20 is provided with a yoke 28, and the yoke 28 is used to connect with the first end 4a of the control arm 4 to fix the control arm 4 on the steering gear 20. The yoke 28 is provided with an adjustment hole 281, and the adjustment hole 281 is configured as a long strip, and the length direction of the adjustment hole 281 extends in the left-right direction. The control arm 4 is provided with an eccentrically arranged connecting bolt 6, and the connecting bolt 6 can be movably penetrated in the adjusting hole 281 and its position relative to the adjusting hole 281 can be adjusted.

[0154] It is understandable that the relative position between the control arm 4 and the steering gear 20 can be adjusted by adjusting the position of the connecting bolt 6 in the adjustment hole 281, thereby adjusting the position of the wheel 200 relative to the subframe 1, which is conducive to convenient adjustment of the wheel 200, and can improve the adjustment accuracy of the wheel 200, thereby improving the reliability of the steering system 100.

[0155] In some embodiments of the present invention, the steering system 100 according to the embodiment of the present invention further includes an adjusting shim 7 , which is disposed between the connecting bolt 6 and the control arm 4 , and the angle of the adjusting shim 7 is adjustable to adjust the position of the connecting bolt 6 .

[0156] For example, refer to Figure 4 and Fig.12 As shown, the steering system 100 also includes an adjustment gasket 7, which is circular in structure and provided with an eccentric hole, and the connecting bolt 6 is inserted into the eccentric hole to be connected with the adjustment gasket 7. At the same time, a limiting groove 282 can be provided on the yoke 28 corresponding to the adjustment hole 281, and the limiting groove 282 has a parallel first side wall 282a and a second side wall 282b, the first side wall 282a and the second side wall 282b extend in the front-to-back direction and are opposite, and the distance between the first side wall 282a and the second side wall 282b is slightly larger than the diameter of the adjustment gasket 7, and the adjustment gasket 7 is used to be installed in the limiting groove 282 and abut against the first side wall 282a or the second side wall 282b. For example, the distance between the first side wall 282a and the second side wall 282b can be set to 40.5mm, and the diameter of the adjustment gasket 7 can be set to 40mm.

[0157] The angle of the adjusting shim 7 can be adjusted relative to the yoke 28, so that the position of the eccentric hole along the left-right direction can be adjusted by rotating the adjusting shim 7 to adjust the position of the connecting bolt 6, thereby completing the position adjustment of the wheel 200. In this way, the difficulty of adjusting the wheel 200 can be reduced, and the practicality of the steering system 100 is improved.

[0158] In some embodiments of the present invention, a ball pin 41 is provided at the second end 4b of each control arm 4, and a brake 30 is provided with a mounting plate 31. The mounting plate 31 is formed with a mounting hole 311, and a limiting inclined surface 321 is formed in the mounting hole 311. The ball pin 41 is limited and abutted against the limiting inclined surface 321 along the penetration direction.

[0159] For example, refer to Figure 13-14As shown, the end of the control arm 4 connected to the steering gear 20 can be set as the first end 4a, and the end of the control arm 4 connected to the brake 30 can be set as the second end 4b. The second end 4b of each control arm 4 is provided with a ball pin 41, and a mounting plate 31 is provided on the brake 30. The mounting plate 31 is formed with a mounting hole 311 penetrating along the thickness direction. The second end 4b of the control arm 4 can extend to one side of the mounting plate 31 along the thickness direction and is opposite to the mounting hole 311, so that the ball pin 41 can be inserted into the mounting hole 311.

[0160] Among them, a limiting inclined surface 321 can be formed in the mounting hole 311, and the limiting inclined surface 321 is constructed to extend inwardly along the penetration direction. The ball pin 41 can be inserted into the mounting hole 311 and limit against the limiting inclined surface 321 along the penetration direction. The end of the ball pin 41 can be arranged to cooperate with the other side of the mounting plate 31 along the thickness direction to fix the ball pin 41 on the mounting plate 31, so that the control arm 4 can be connected to the brake 30 through the ball pin 41.

[0161] Through the above arrangement, compared with other connection modes, the degree of freedom of the control arm 4 can be improved, the service life of the control arm 4 can be extended, and the practicality of the steering system 100 can be improved.

[0162] In some embodiments of the present invention, Fig.10 As shown, a threaded section 411 may be provided at the end of the ball pin 41, and the steering system 100 may be provided with a fixing nut 81, which is threadedly engaged with the threaded section 411 and is used to engage with the other side of the mounting plate 31 in the thickness direction. Thus, the difficulty of installing the ball pin 41 may be reduced, and the installation stability of the ball pin 41 may be improved.

[0163] In some embodiments of the present invention, Fig.10 As shown, a protective sleeve 42 may be connected between the second end 4b of the control arm 4 and the mounting plate 31. The protective sleeve 42 is used to be sleeved on the outside of the ball pin 41 to protect the ball pin 41, thereby preventing foreign matter or dust from accumulating on the ball pin 41 and causing movement obstruction. Thus, the reliability of the steering system 100 is improved.

[0164] In some embodiments of the present invention, Fig.10 As shown, the brake assembly 3 includes a bushing 32, which is located in the mounting hole 311 and has an interference fit with the mounting hole 311, and the inner wall of the bushing 32 forms a limited inclined surface 321. It should be noted that the bushing 32 can be made of an anti-deformation material such as stainless steel. Through the above arrangement, the processing difficulty of the brake 30 can be reduced, and the service life of the brake 30 can be extended.

[0165] In some embodiments of the present invention, Figure 15-16As shown, the steering system 100 of the embodiment of the present invention further includes: an air spring 9, which is installed between the sub-frame 1 and the wheel 200. The air spring 9 is used to buffer the vibration transmitted from the wheel 200 to the sub-frame 1, so as to reduce the vibration of the sub-frame 1 and improve the comfort of the user.

[0166] In some embodiments of the present invention, at least a portion of the control arm 4 may be bent to configure the control arm 4 into a special-shaped structure, so that the control arm 4 can avoid the air spring 9. In this way, the layout difficulty of the steering system 100 can be reduced, and the design rationality of the steering system 100 is improved.

[0167] In some embodiments of the present invention, Figure 2 As shown, the steering system 100 of the embodiment of the present invention further includes: an upper arm 51 and a lower arm 52, and the upper arm 51 and the lower arm 52 are respectively connected between the subframe 1 and the wheel 200, so that the control arm 4, the upper arm 51 and the lower arm 52 can jointly support the wheel 200, thereby improving the installation stability of the wheel 200. In the first direction L1, the control arm 4 can be located between the upper arm 51 and the lower arm 52. It should be noted that the first direction L1 is Figure 2 Up and down directions shown.

[0168] Through the above arrangement, during the operation of the vehicle, the upper arm 51 and the lower arm 52 can better share the impact of the wheel 200, reducing the impact on the control arm 4, thereby enabling the control arm 4 to more accurately control the wheel 200, thereby improving the reliability of the steering system 100.

[0169] In some embodiments of the present invention, the subframe 1 is adapted to be provided with mounting portions 17 for mounting an anti-roll bar on both sides of the cross beam 10 , and the steering gear 20 is located between the two mounting portions 17 .

[0170] For example, refer to Figure 2 As shown, the subframe 1 is suitable for being provided with mounting portions 17 on the left and right sides of the cross beam 10, respectively, the mounting portions 17 are used to mount the anti-roll bar, the steering gear 20 is connected to the cross beam 10, and the steering gear 20 is arranged at the middle position along the left and right directions of the two mounting portions 17. Specifically, when the steering gear 20 is mounted on the rear cross beam 12, the mounting portions 17 can be respectively arranged on the left and right sides of the rear cross beam 12.

[0171] Through the above arrangement, the anti-roll bar can effectively support the steering gear 20 to prevent the steering gear 20 from causing the subframe 1 to roll, and the mounting portion 17 can also be used to enhance the structural strength of the subframe 1, thereby improving the overall stability of the subframe 1.

[0172] In some embodiments of the present invention, the upper arm 51 and / or the lower arm 52 are located on the side of the mounting portion 17 away from the steering gear 20. For example, Figure 2 As shown, in the left-right direction, the upper arm 51 and the lower arm 52 can be arranged on the side of the mounting portion 17 away from the steering gear 20. Through the above arrangement, the weight on both sides of the mounting portion 17 can be more balanced, which is beneficial to improving the installation stability of the anti-roll bar and the overall stability of the steering system 100.

[0173] In some embodiments of the present invention, Figure 2 As shown, the steering gear 20 is mounted on the rear cross beam 12 , and mounting portions 17 are respectively provided on the left and right sides of the rear cross beam 12 . In the front-rear direction of the vehicle 1000 , the upper arm 51 and / or the lower arm 52 are located in front of the mounting portions 17 .

[0174] Through the above arrangement, the center of gravity of the upper arm 51 and the lower arm 52 is located in front of the mounting portion 17 , which can prevent the upper arm 51 and the lower arm 52 from causing the subframe 1 to tilt backward, thereby improving the stability of the subframe 1 .

[0175] In some embodiments of the present invention, Figure 2 and Figure 6 As shown, in the front-to-back direction of the vehicle 1000, the housing 21 is located between the drive assembly 27 and the crossbeam 10. Through the above arrangement, the housing 21 and the drive assembly 27 can be arranged in sequence along the front-to-back direction to reduce the space occupied by the steering gear 20 along the up-down direction, which is conducive to improving the layout convenience of the steering gear 20.

[0176] In some embodiments of the present invention, Figure 2 As shown, the cross beam 10 has a suspension mounting hole 16, which is used to mount the suspension so as to fix the suspension on the cross beam 10, and the diverter 20 is located below the suspension mounting hole 16. Through the above arrangement, the space of the cross beam 10 along the up and down directions can be fully utilized, which is beneficial to improve the space utilization rate and reduce the overall size of the cross beam 10.

[0177] In some embodiments of the present invention, the steering system 100 according to the embodiment of the present invention further includes a domain controller 101, a left controller 102 and a right controller 103. The left controller 102 is communicatively connected to the left steering gear 201, the right controller 103 is communicatively connected to the right steering gear 202, and the domain controller 101 is communicatively connected to the left controller 102 and the right controller 103 respectively.

[0178] For example, refer to Fig.17As shown, the steering system 100 also includes a domain controller 101, a left controller 102 and a right controller 103. The domain controller 101 is installed on the sub-frame 1, the left controller 102 is arranged on the left steering gear 201 and is communicatively connected to the left steering gear 201, and the right controller 103 is arranged on the right steering gear 202 and is communicatively connected to the right steering gear 202.

[0179] At the same time, the domain controller 101 can be configured to communicate with the left controller 102 and the right controller 103, respectively, so that the domain controller 101 can control the left steering gear 201 through the left controller 102, thereby controlling the steering of the wheel 200 on the left side, and the domain controller 101 can also control the right steering gear 202 through the right controller 103, thereby controlling the steering of the wheel 200 on the right side. Through the above configuration, the wheel 200 can be accurately controlled, which is conducive to improving the steering stability of the vehicle 1000.

[0180] Of course, the present application is not limited thereto, and one of the left controller 102 and the right controller 103 may also be set as the domain controller 101. Thus, it is helpful to simplify the structure of the vehicle 1000 and reduce the cost.

[0181] The present invention also provides a vehicle 1000 .

[0182] The vehicle 1000 according to the embodiment of the present invention comprises the steering system 100 according to any one of the above embodiments.

[0183] According to the vehicle 1000 of the embodiment of the present invention, by fixing the steering gear assembly 2 on the subframe 1, the displacement stroke of the steering gear 20 can be increased, thereby increasing the maximum turning angle of the wheel 200, improving the flexibility of the vehicle 1000, and avoiding increasing the unsprung mass, thereby ensuring the handling stability of the entire vehicle and improving the brand image of the vehicle 1000.

[0184] The present invention further provides a vehicle control method.

[0185] It should be noted that if Fig.17 As shown, the vehicle 1000 is provided with a domain controller 101 , the left steering wheel 201 is provided with a left controller 102 , and the right steering wheel 202 is provided with a right controller 103 .

[0186] like Fig.18 As shown, the vehicle control method according to the embodiment of the present invention includes the following steps:

[0187] S10: The domain controller 101, the left controller 102 and the right controller 103 perform self-tests respectively. That is, when the vehicle 1000 starts or starts to travel, the domain controller 101, the left controller 102 and the right controller 103 can perform self-tests respectively to determine whether their own working states are normal.

[0188] S20: If the self-check is successful, the domain controller 101, the left controller 102 and the right controller 103 interact, and the domain controller 101 controls the left controller 102 and the right controller 103 according to the working information.

[0189] That is to say, if the domain controller 101, the left controller 102 and the right controller 103 are self-checked successfully, it is determined that the domain controller 101, the left controller 102 and the right controller 103 can all work normally. Then, the domain controller 101, the left controller 102 and the right controller 103 can be controlled to interact so that the domain controller 101 can obtain the working information of the left controller 102 and the right controller 103 and other working information; then, the domain controller 101 can control the left controller 102 and the right controller 103 according to the working information to control the left steering gear 201 and the right steering gear 202, thereby realizing the steering of the wheel 200.

[0190] It should be noted that the working information includes vehicle settings (such as the driving mode of vehicle 1000, steering gear function on / off, ADAS function status, etc.), vehicle speed, steering wheel angle, steering wheel speed, vehicle body yaw, working status of the right steering gear 202, working status of the left steering gear 201, etc.

[0191] The vehicle control method according to the embodiment of the present invention can ensure the driving safety of the vehicle 1000 and improve user satisfaction.

[0192] In some embodiments of the present invention, Fig.19 As shown, controlling the left controller 102 and the right controller 103 according to the working information includes:

[0193] S21: Acquire real-time working information. Specifically, the domain controller 101 can directly acquire information such as vehicle settings, vehicle speed, steering wheel angle, steering wheel speed, vehicle body yaw, etc., and can also acquire the working state of the left steering gear 201 through the left controller 102, and can also acquire the working state of the right steering gear 202 through the right controller 103.

[0194] S22: If the working information meets the preset conditions, the domain controller 101 controls the left controller 102 and the right controller 103 to work normally. That is to say, when the working information meets the preset conditions, it can be determined that all parts of the vehicle 1000 can work normally, such as the right steering gear 202 and the left steering gear 201 can work normally, and the domain controller 101 can calculate the control information of the left steering gear 201 and the right steering gear 202 according to the working information, and then send the control information to the left controller 102 and the right controller 103 respectively. After receiving the control information, the left controller 102 and the right controller 103 can respectively control the corresponding steering gear 20 to work, thereby realizing the steering of the wheel 200.

[0195] S23: If the working information does not meet the preset conditions, the domain controller 101, the left controller 102 and the right controller 103 stop interacting and perform an emergency response. That is, when the working information does not meet the preset conditions, the vehicle 1000 has a fault, such as the left steering gear 201 cannot work or the left controller 102 has a fault, etc., the domain controller 101, the left controller 102 and the right controller 103 stop interacting and perform an emergency response. In this way, driving safety can be guaranteed.

[0196] In some embodiments of the present invention, Fig.18 As shown, the control method according to the embodiment of the present invention further includes the following steps:

[0197] S30: If any one of the domain controller 101, the left controller 102 and the right controller 103 fails in self-test, the domain controller 101, the left controller 102 and the right controller 103 stop interacting and perform an emergency response. That is to say, if any one of the domain controller 101, the left controller 102 and the right controller 103 fails in self-test, for example, the domain controller 101 fails in self-test or the left controller 102 fails in self-test, it is determined that the vehicle 1000 cannot drive normally, and the domain controller 101, the left controller 102 and the right controller 103 can be controlled to stop interacting and perform an emergency response. In this way, driving safety can be guaranteed.

[0198] In some embodiments of the present invention, Fig. 20 As shown, emergency response includes:

[0199] S41: The left controller 102 and the right controller 103 respectively control the corresponding steering gear 20 to return to the mechanical neutral position or remain at the current position. That is, the left controller 102 can control the left steering gear 201 to return to the mechanical neutral position, and the right controller 103 can control the right steering gear 202 to return to the mechanical neutral position, so that the vehicle 1000 maintains the current direction; or, the left controller 102 can control the left steering gear 201 to remain unchanged at the current position, and the right controller 103 can control the left steering gear 201 to remain unchanged at the current position, so that the vehicle 1000 can move along a specific angle. In this way, a certain reaction space can be reserved for the user, which improves driving safety.

[0200] S42: The domain controller 101 performs a fault alarm according to a preset scheme. For example, the domain controller 101 can control the vehicle 1000 to broadcast a voice reminder or a light reminder to the driver, and can also control the vehicle 1000 to turn on the double flash lights, etc. Thus, the user's safety can be guaranteed.

[0201] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0202] In the description of the present invention, "first feature" or "second feature" may include one or more of the features.

[0203] In the description of the present invention, "plurality" means two or more.

[0204] In the description of the present invention, a first feature being “on” or “under” a second feature may include that the first and second features are directly in contact with each other, or may include that the first and second features are not in direct contact with each other but are in contact with each other via another feature therebetween.

[0205] In the description of the present invention, “on”, “over” and “above” a first feature from a second feature includes the first feature being directly above and obliquely above the second feature, or simply means that the first feature is horizontally higher than the second feature.

[0206] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0207] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A steering system (100), characterized in that: include: Subframe (1); A steering gear assembly (2), the steering gear assembly (2) comprising a plurality of steering gears (20), wherein the plurality of steering gears are all fixed to a crossbeam (10) of the sub-frame (1).

2. The steering system (100) according to claim 1, characterized in that: The diverter (20) is located outside the crossbeam (10).

3. The steering system (100) according to claim 1 or 2, characterized in that: In the front-rear direction of the vehicle (1000), the steering gear (20) is fixed on the front cross beam (11) of the subframe (1) and is located on the front side of the front cross beam (11); or, the steering gear (20) is fixed on the rear cross beam (12) of the subframe (1) and is located on the rear side of the rear cross beam (12).

4. The steering system (100) according to claim 2, characterized in that: The crossbeam (10) is provided with a mounting structure (15), and the steering gear (20) is connected to the mounting structure (15).

5. The steering system (100) according to claim 2, characterized in that: In the first direction (L1), the height of the diverter (20) is lower than the height of the crossbeam (10).

6. The steering system (100) according to claim 2, characterized in that: In the first direction (L1), the axis of the diverter (20) is located below the axis of the crossbeam (10).

7. The steering system (100) according to claim 2, characterized in that: An avoidance groove (13) is arranged on the outer side of the cross beam (10), and the bottom wall of the avoidance groove (13) is spaced apart from the diverter (20).

8. The steering system (100) according to claim 7, characterized in that: At least a portion of the deflector (20) is disposed in the avoidance groove (13).

9. The steering system (100) according to claim 7, characterized in that: A reinforcing rib (14) is arranged in the avoidance groove (13).

10. The steering system (100) according to claim 9, characterized in that: There are a plurality of reinforcing ribs (14), and the plurality of reinforcing ribs (14) extend obliquely along a first direction (L1) and are cross-arranged.

11. The steering system (100) according to claim 4, characterized in that: The mounting structure (15) comprises a plurality of mounting bosses (151). In a first direction (L1), the plurality of mounting bosses (151) are respectively located on two sides of the diverter (20).

12. The steering system (100) according to claim 11, characterized in that The two mounting bosses (151) spaced apart along the first direction (L1) are connected via a reinforcing rib (14).

13. The steering system (100) according to claim 11, characterized in that: At least part of the mounting boss (151) is arranged on the lower edge of the crossbeam (10).

14. The steering system (100) according to claim 11, characterized in that In the first direction (L1), one mounting boss (151) is provided on the first side of the diverter (20), and two mounting bosses (151) are provided on the second side.

15. The steering system (100) according to claim 14, characterized in that It also includes a displacement sensor (215), which is arranged on a first side of the steering gear (20) and is used to detect the movement stroke of the steering gear (20).

16. The steering system (100) according to claim 1, characterized in that The plurality of steering gears (20) are respectively a left steering gear (201) and a right steering gear (202); the left steering gear (201) is suitable for being connected to the wheel (200) on the left side by driving, and the right steering gear (202) is suitable for being connected to the wheel (200) on the right side by driving.

17. The steering system (100) according to claim 16, characterized in that The axes of the left steering gear (201) and the right steering gear (202) are coaxially arranged or arranged at an angle.

18. The steering system (100) according to claim 16, characterized in that The left steering gear (201) and the right steering gear (202) provided on the cross beam (10) are symmetrically arranged with respect to the center line of the sub-frame (1).

19. The steering system (100) according to claim 16, characterized in that The diverter (20) comprises: A housing (21), wherein the housing (21) is adapted to be connected to the crossbeam (10); A drive assembly (27); A moving member (22) and a rotating member (23), wherein the moving member (22) is arranged on the housing (21), the moving member (22) is transmission-connected with the rotating member (23), the driving assembly (27) is suitable for driving the rotating member (23) to move the moving member (22), and the moving member (22) is suitable for being connected to the wheel (200) through a control arm (4); a first bearing (24), the first bearing (24) being arranged between the moving member (22) and the housing (21); A second bearing (25), wherein the second bearing (25) is arranged between the rotating member (23) and the housing (21).

20. The steering system (100) according to claim 19, characterized in that At least a portion of the control arm (4) is bent.

21. The steering system (100) according to claim 19, characterized in that The steering gear (20) further comprises a third bearing (26), wherein the third bearing (26) is arranged between the rotating member (23) and the housing (21), and in the axial direction of the moving member (22), the second bearing (25) and the third bearing (26) are arranged at intervals.

22. The steering system (100) according to claim 21, characterized in that The driving assembly (27) comprises an output end, the output end is connected to the rotating member (23) to drive the rotating member (23) to rotate, and the second bearing (25) and the third bearing (26) are distributed on both sides of the output end.

23. The steering system (100) according to claim 22, characterized in that In the axial direction of the moving member (22), the first bearing (24) is located on a side of the second bearing (25) away from the output end.

24. The steering system (100) according to claim 19, characterized in that The second bearing (25) is an angular contact ball bearing. In the axial direction of the movable member (22), a first limiting member (231) and a second limiting member (213) are respectively provided on both sides of the second bearing (25). The first limiting member (231) and the second limiting member (213) are respectively engaged with the second bearing (25) to limit the movement of the second bearing (25).

25. The steering system (100) according to claim 19, characterized in that Also includes: An upper arm (51) and a lower arm (52), wherein the upper arm (51) and the lower arm (52) are respectively connected between the sub-frame (1) and the wheel (200), and in a first direction (L1), the control arm (4) is located between the upper arm (51) and the lower arm (52).

26. The steering system (100) according to claim 25, characterized in that The sub-frame (1) is adapted to be provided with mounting portions (17) for mounting an anti-roll bar on both sides of the cross beam (10), and the steering gear (20) is located between the two mounting portions (17).

27. The steering system (100) according to claim 26, characterized in that The upper arm (51) and / or the lower arm (52) are located on a side of the mounting portion (17) facing away from the steering gear (20).

28. The steering system (100) according to claim 26, characterized in that In the front-rear direction of the vehicle (1000), the upper arm (51) and / or the lower arm (52) are located on the front side of the mounting portion (17).

29. The steering system (100) according to claim 19, characterized in that In the front-rear direction of the vehicle (1000), the housing (21) is located between the drive assembly (27) and the crossbeam (10).

30. The steering system (100) according to claim 19, characterized in that The crossbeam (10) is provided with a suspension mounting hole (16) for mounting the suspension, and the steering gear (20) is located below the suspension mounting hole (16).

31. A vehicle (1000), characterized in that: Comprising a steering system (100) according to any one of claims 1-30.

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